A novel computationally intelligent architecture for identification and control of nonlinear systems

Abstract

In this study, a novel method for identification and control of nonlinear systems is developed. The method proposed realizes the dynamics of a system by employing the Runge-Kutta method at the upper level. The intermediate level of the strategy constructs the architecture utilizing an adaptive neuro fuzzy inference system. The overall system is able to imitate the behavior of a complex dynamic system with a few rules or to control the system with high accuracy. The proposed method has been applied to a two degrees of freedom direct drive SCARA robot.