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This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding function. Mathematical proof of the stability and convergence of the control system is given. Simulation results demonstrate that the chattering and the steady state errors are eliminated and satisfactory trajectory tracking is achieved. [ABSTRACT FROM AUTHOR]

Seam pucker grade is one of the most important quality parameters in garments manufacturing industry. At present, seam pucker is usually evaluated by human inspectors, which is subjective, unreliable and time-consuming. Instead of subjective evaluation, this paper presents an objective method by using image analysis and pattern recognition. The evaluation system consists of image acquisition, image normalization, feature extraction and self organizing map classifier. Textural features of seam puckers are studied with a widely used statistical method, the co-occurrence matrix approach. The grades of seam puckers can be obtained from the trained self organizing map classifier and the results are very promising. [ABSTRACT FROM AUTHOR]

The design of intelligent controllers for nonlinear systems continues to be a challenging problem, particularly when the system is uncertain or the environment noisy. A nonparametric approach which has gained success is to employ a neural network to learn about the unknown plant and fuzzy inference to compensate for the uncertainty (GANFIS control). Inherent in the design of such controllers is the need to tune the weights of the GANFIS controller. Evolutionary learning has been suggested to tune the GANFIS parameters but a difficulty is selecting the parameters for tuning. Further, it is well known that proper selection of the fitness function has an important effect on system performance. In this paper, we integrate two design techniques that we have previously developed into a single generalized ANFIS controller: adaptive tuners to select critical evolutionary parameters and a predictive fitness function for measuring system performance. The adaptive tuners also employ this predictive fitness as part of selection process which is a new approach. Results show that this approach is a feasible method in designing GANFIS controllers using evolutionary tuning and predictive fitness. [ABSTRACT FROM AUTHOR]

Associative neural memories are models of biological phenomena that allow for the storage of pattern associations and the retrieval of the desired output pattern upon presentation of a possibly noisy or incomplete version of an input pattern. In this paper, we introduce fuzzy swarm particle optimization technique for convergence of associative neural memories based on fuzzy set theory. An FPSO consists of clustering of swarm's particle by applying fuzzy c-mean algorithm to attain the neighborhood best. We present a singular value decomposition method for the selection of efficient rule from a given rule base required to attain the global best. Finally, we illustrate the proposed method by virtue of some examples. [ABSTRACT FROM AUTHOR]