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Neuro‐Fuzzy Impact Control (NFIC) for Anti‐Personnel (AP) Mines Detection
Author(s) -
Shahri Ali M.,
Naghdy Fazel
Publication year - 2002
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2002.tb00339.x
Subject(s) - mechatronics , pid controller , controller (irrigation) , scheme (mathematics) , computer science , fuzzy logic , control engineering , fuzzy control system , control (management) , control theory (sociology) , engineering , artificial intelligence , mathematics , temperature control , mathematical analysis , agronomy , biology
An explicit impact control scheme is modified as the main control scheme, while an intelligent control method is designed to deal with uncertainties and varying environment parameters in a mechatronics approach to anti‐personnel (AP) mine detection. The device imitates the manual hand‐prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil, to control the impact caused by making contact with a stiff object. An adaptive neuro‐fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro‐fuzzy impact control (NFIC) when an impact is detected. The developed control schemes are validated through experimental work.