DESIGN OF ADAPTIVE FUZZY WAVELET CONTROL FOR INVERTED PENDULAM A THESIS

SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENT FOR THE AWARD OF THE DEGREE OF

MASTER OF TECHNOLOGY Electrical Engineering (Instrumentation& Control) Submitted By

SUNIL KUMAR MEE-207-2K10

Under the Supervisor of

Dr. S.K.Agrawal
( Professor in Electronics Engg. Deptt.)

Department of Electronics Engineering

YMCA University of Science & Technology Faridabad-121006

YMCA UNIVERSITY OF SCIENCE & TECHNOLOGY DECLARATION I hereby certify that the work which is being presented in the thesis entitled DESIGN OF ADAPTIVE FUZZY WAVELETS CONTROL FOR INVERTED PENDULUM in partial fulfillment of requirements for the award of degree of M.Tech. submitted in the Department of Electronics Engineering at YMCAUST FARIDABAD.

SUNIL KuMAR MEE-207-2K10

This is to certify that the above statement made by the candidate is correct to the best of my knowledge.

Signature of the SUPERVISOR Dr. S.K.Agrawal (Professor in Electronics Engg. Deptt) YMCA University of Science & Technology Faridabad-121006 The M.Tech Viva Voce Examination of SUNIL KUMAR (MEE-207-2K10) has been held on ____________ and accepted

Signature of Internal Examiner

Signature of External Examiner

Signature of Chairman . Department of Electronics Engineering YMCA University of Science & Technology Faridabad-121006
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CANDIDATE DECLARATION I hereby declare that this submission of Thesis on DESIGN OF ADAPTIVE FUZZY WAVELETS
CONTROL FOR INVERTED PENDULUM

is my own work and that, to the best of my knowledge

and, it contains no material previously published or written by another person nor material which has been accepted for the award of any other degree of the university or other institute of higher learning, except where due acknowledgment has been made in the text

SIGNATURE OF CANDIDATE SUNIL KUMAR MEE-207-2K10

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ACKNOWLEDGEMENT
I wish to express my deep sense of gratitude to My Project Supervisor, Dr.S.K.Aggarwal, Chairman, of Electronics Engineering Department, YMCA University of Science & Technology, Faridabad for his guidance, encouragement and useful suggestions, which helped me in completing the project work in time. I consider myself very fortunate for having been associated with him. its affection, guidance and scientific approach served a veritable incentive for completion of this work. Although it is not possible to name individually, I cannot forget my well-wishes at YMCA University of Science & Technology, Faridabad and outsiders for their persistent support and cooperation which needed during this work. I shall ever remain indebted to the faculty members of YMCA University of Science & Technology, Faridabad. Finally, yet importantly, I would like to express my heartfelt thanks to my beloved parents for their blessings, my friends/classmates for their help and wishes for the successful completion of this project. This acknowledgement will remain incomplete if I fail to express my deep sense of obligation to my parents and God for their consistent blessings and encouragement.

Sunil Kumar MECE-207-2K10

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ABSTRACT
This project work presents a new adaptive fuzzy wavelet network controller (A-FWNC) for control of nonlinear affine systems, inspired by the theory of multiresolution analysis (MRA) of wavelet transforms and fuzzy concepts. The proposed adaptive gain controller, which results from the direct adaptive approach, has the ability to tune the adaptation parameter in the THENpart of each fuzzy rule during real-time operation. Each fuzzy rule corresponds to a sub-wavelet neural network (sub-WNN) and one adaptation parameter. Each sub-WNN consists of wavelets with a specified dilation value. The degree of contribution of each sub-WNN can be controlled flexibly. Orthogonal least square (OLS) method is used to determine the number of fuzzy rules and to purify the wavelets for each sub-WNN. Since the efficient procedure of selecting wavelets used in the OLS method is not very sensitive to the input dimension, the dimension of the approximated function does not cause the bottleneck for constructing FWN. FWN is constructed based on the training data set of the nominal system and the constructed fuzzy rules can be adjusted by learning the translation parameters of the selected wavelets and also determining the shape of membership functions. Then, the constructed adaptive FWN controller is employed, such that the feedback linearization control input can be best approximated and the closed-loop stability is guaranteed. The performance of the proposed A-FWNC is illustrated by applying a second-order nonlinear inverted pendulum system and compared with previously published methods. Simulation results indicate the remarkable capabilities of the proposed control algorithm. It is worth noting that the proposed controller significantly improves the transient response characteristics and the number of fuzzy rules and on-line adjustable parameters are reduced.

Keywords: Wavelet neural networks; Fuzzy wavelet networks; Feedback linearization control; Adaptive fuzzy controller; Inverted pendulum

INDEX
I. II. III. IV. V. VI. CERTIFICATE ACKNOWLEDGEMENT ABSTRACT LIST OF FIGURES LIST OF ABBREVIATIONS LIST OF SYMBOLS ii iv v vii ix x

1.

Chapter-1 Introduction 1.1 Motivation 1.2 Problem formulation

1 3
3

2. 3 4

Chapter-2 Literatures Chapter-3 Modeling of the System Chapter-4 Design of Controller and Modeling 4.1 Wavelet 4.2 Neural Network 4.3 Fuzzy Neural Network 4.4 Wavelet Neural Network 4.5 Structure of Adaptive FWN Controller 4.6 FWN Structure and Construction 4.7 Design of Adaptive FWN Controller Chapter-5 Simulation and Results 5.1 Neural Network Simulation Results
5.2

6 14 18 18 24 31 37 42 44 47 50 51 54 57 60 65 66 68

Wavelets Neural Network Adaptive Fuzzy wavelets Controller Balancing the Pole in Vertical Position

5.3 5.4

6 Chapter-6 Conclusions and Future scope References Appendix

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LIST OF FIGURES
Figure
3.1 inverted pendulum system 3.2 Impulse response of inverted pendulum

Page
15 16 17 19

3.3 response to step input of inverted pendulum 4.1.1 The Haar wavelets Response , Voltage vs frequency 4.1.2 (a) Mother wavelets response of scaling function phi (b) Mother wavelets Response of wavelets function psi 4.1.3 Mexcian wavelets response of wavelets function psi 4.1.4 Morlet wavelets response of wavelets function psi 4.1.5 Multiresolution analysis of wavelets decomposition of at level 5 for db10 4.1.6 Multiresolution analysis of wavelets decomposition for frequency breakdown at level 5 for db10 4.2a Artificial neural network Architecture 4.2b Threshold Function 4.2c Piecewise-Linear Function 4.2.1. Single-Layer Feed-Forward Neural Network 4.2.2. Multi-Layer Feed-Forward Neural Network 4.2.3 Performance plot response of training data 4.2.4 Training state response 4.2.5 Regression plot for R=1 response 4.3.1 Response of data pattern for Length of input data M=2 4.3.2 Response of data pattern of Length of input data M=4 for x(i) 4.3.3 Response of data pattern of Length of input data M=4 for z(i) 4.3.4 Response of Linear approximation for given data pattern 4.3.5 Response of Polynomial approximation for given data pattern 4.3.6 Response of neural network approximation for one neuron 4.3.7 Response of neural network approximation for two neuran 4.3.8 Response of Training and data premise membership function 4.3.9 Response of training data and basis function of given data x(i) 4.3.10 response of Takagi sugeno approximation of given data pattern
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20 21 21 23

23 24 25 26 26 27 28 28 29 31 31 32 32 33 33 34 34 35 35

4.4 (a) wavelets neural network structure 4.4.1. One-Dimensional Wavelet Neural Network 4.4.1a Response of scaling function phi of wavelets transform for 4db 4.4.1b response of wavelets function psi for db4 4.4.1c Response of scaling function phi of wavelets transform for 8db 4.4.1d response of wavelets function psi for db8 4.4.2 (a).Wavelet Neuron with a Multidimensional Wavelet Activation Function 4.4.2 (b) Wavelets neural network architecture 4.6 Fuzzy wavelets neural network Structure 4.7 A Fuzzy wavelets neural network Controller 5a simulink block of Inverted Pendulum with adaptive fuzzywavelets controller 5b Voltage vs Time graph for inverted pendulum 5.1.1 Block diagram of Simulink Neural Network 5.1.2 Response of Neuran network for training performance for 37 epoch 5.1.3 Neural network Training state response for data pattern 5.1.4 REGRATION training response for R=1 5.2a Wavelets neural network Diagram 5.2.1a response of Wavelets transform of scaling function phi for db1 5.2.1b response of wavelets function psi for db1 5.2.2a response of Wavelets transform of scaling function phi for db4 5.2.2b response of wavelets function psi for db4 5.2.3a response of Wavelets transform of scaling function phi for db8 5.2.3b response of wavelets function psi for db8 5.2.4 response of wavelets neural network for high value frequency 5.2.5 response of wavelets neural network for medium frequency 5.2.6 response of wavelets neural network for low frequency 5.3.1 Adaptive fuzzy wavelets control Simulink block. 5.3.2 response of Adaptive Fuzzy wavelets control at 0.3 gain and delay is 4 5.3.3 response of Adaptive Fuzzy wavelets control at 0.3 gain and delay is 4 5.3.4 response of Adaptive Fuzzy wavelets control at 0.1 gain and delay is 4 5.3.5 response of Adaptive Fuzzy wavelets at 0.2 gain and delay is 4
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36 37 37 37 38 38 39 40 44 47 50 50 51 51 52 52 53 53 53 54 54 54 54 55 55 55 56 57 57 58 58

5.5.1 inverted pendulum with fuzzy controller 5.5.2 response of velocity of inverted pendulum Without fuzzy controller 5.5.3 response of angle of inverted pendulum without fuzzy controller 5.5.4 response of position of inverted pendulum without fuzzy controller 5.5.5 response of angular velocity of inverted pendulum without fuzzy controller 5.5.6 response to balancing the cart pole using adaptive fuzzy wavelets

59 61 61 62 62 62

LIST OF ABBREVIATIONS
MRA - Multireslution analysis WNN Wavelets Neural Network

FWN - Fuzzy Wavelets Network ANFIS Adaptive Network Fuzzy Inference System TS - TakagiSugeno

OLS - Orthogonal least-square TSFC - TakagiSugeno fuzzy controller SISO Single Input Single output A-FWNC - adaptive fuzzy wavelet network controller AFC Adaptive Fuzzy Controller

LIST OF SYMBOLS = angle of pole from vertical = cart acceleration = angular acceleration = angular velocity of the pole gr= acceleration due to gravity L=half-length of the pole M= Mass of the cart m= mass of the pole x1, x2 = inputs u= Output
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A = 4*4 matrix B= 4*1 matrix C= 2*4 matrix F= force on cart

= psi function
= dilation function t= translation function = phi function u*= control input s= decomposition function w= weight function a = scaling function Ji= performance index M= length on input data Pij = fitting parameters and = step sizes of dilation and translation

= error function
= subset function Z=parameters = constant vector k*= optimal parameters vector (v)= activation function b = biased function = fuzzy rule set R= Training rate function x(i)= input function z(i) = input function y(i)= output function

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