Distinct Architectures of Feed Forward Neural Network for Implementing A Human Swing Leg System | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Article 5, Volume 23, Issue 3, September 2023, Pages 54-67 PDF (860.91 K) | ||
| Document Type: Research Paper | ||
| DOI: https://doi.org/10.33103/uot.ijccce.23.3.5 | ||
| Authors | ||
| Aws M Abdullah1; Farah F. Alkhalid* 2; Ali Mohsin Kaittan3 | ||
| 1Avicenna E-learning Center, University of Baghdad, Iraq | ||
| 2Control and Systems Engineering, University of technology, Baghdad, Iraq | ||
| 3Asoul Aldean University College, Iraq | ||
| Abstract | ||
| The artificial intelligence techniques such as neural networks and fuzzy systems play an important role to disconnect flexion & expansion of the swing leg, the earth response force of the other foot has been redesigned. Underthat paper, we think the fuzzy controller plan issue for yield following flawed genuine investigation of nonlinear systems. For examination, an essential fuzzy control plot has been bristly developed dependent on a current methodology delegate under the field.In this paper, the Feedforward Neural Network has been implemented with integer, fixed point and floating point data representations. Additionally, The Fuzzy Logic Controllers in both analog and digital forms has been implemented in hardware. Both designs use less hardware resources and operate with reasonable speed compared to other existing designs. The digital implementation of Fuzzy Logic Controller has been tested for a simulated first order liquid level process and the performance results have been compared with those of the Matlab version of Fuzzy Logic Controller. Here, Fuzzy Logic Controller is used as the controller and is trained adaptively for the changes in process parameters using recursive k-means clustering algorithm for updating the centers of the hidden layer and Recursive Least Square algorithm for updating the weights of the output layer, the result of the settling time about 20ms and takes 20 iterations, and the squared error reaches zero at approximately 20 µs | ||
| Keywords | ||
| Fuzzy Controller; leg interaction force; Prosthetic legs; Human walking; GyroAccelerate; Fuzzy Logic System | ||
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