Desineni Naidu - Profile on Academia.edu (original) (raw)

Papers by Desineni Naidu

sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010

Abstract—This paper presents an intelligent adaptive neuro-fuzzy inference system (ANFIS) based f... more Abstract—This paper presents an intelligent adaptive neuro-fuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping ...

Blood Glucose Regulation for Diabetic Mellitus Using a Hybrid Intelligent Techniques

Dynamic Systems and Control, Parts A and B, 2005

Singularly perturbed nonlinear difference equations and closed-loop discrete optimal control problem

Lecture Notes in Mathematics, 1985

Three-time-scale difference equations with application to open-loop optimal control problem

Lecture Notes in Mathematics, 1985

Modelling and analysis of singularly perturbed difference equations in state space form

Lecture Notes in Mathematics, 1985

Tracking of a robotic hand via SD-DRE and SD-DVE strategies

2016 UKACC 11th International Conference on Control (CONTROL), 2016

Singular perturbation analysis of difference equations in classical form

Lecture Notes in Mathematics, 1985

International Journal of Robotics and Automation Technology, 2014

This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger... more This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger robotic hand to improve accuracy and reduce convergence time by modifying the performance index embedded with an exponential term. First, the trajectory planning of the joints of each finger is designed by using cubic polynomial. Then the kinematic and dynamic equations of the robotic hand and feedback linearization technique are employed. Next, the original and modified optimal control methods are applied to the robotic hand. Finally, simulations show that the proposed modified optimal control technique provides much faster response with high accuracy compared to a hybrid genetic algorithmtuned PID control.

Singular Perturbation Analysis of Discrete Control Systems

Lecture Notes in Mathematics, 1985

... Singular perturbation analysis of discrete control systems. Post a Comment. CONTRIBUTORS: Aut... more ... Singular perturbation analysis of discrete control systems. Post a Comment. CONTRIBUTORS: Author: Naidu, DS (b. 1940, d. ----. Author: Rao, AK (b. 1936, d. ----. PUBLISHER: Springer-Verlag (Berlin and New York). SERIES TITLE: YEAR: 1985. ...

IASTED Technology Conferences / 705: ARP / 706: RA / 707: NANA / 728: CompBIO, 2010

This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic h... more This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic hand. To speed up the performance and improve the accuracy, we modified the performance index by including an exponential term. First, we developed the differential kinematics for a serial n-link revolute-joint planar manipulator to computer the angular velocities and angular accelerations of each finger. Further, the trajectory planning of the orientation was designed by using cubic polynomial. Simulations show that the proposed technique provides fast action with high accuracy and 30-fold faster than ANFIS or GA based trajectory planning.

Discrete modelling of singularly perturbed continuous systems

International Journal of Modelling and Simulation

On model-based networked control of singularly perturbed systems

2008 27th Chinese Control Conference, 2008

ABSTRACT In this paper, the state feedback control of the linear singularly perturbed plant is st... more ABSTRACT In this paper, the state feedback control of the linear singularly perturbed plant is studied, where the sensor and the controller/actuator are connected via a network and the transmission frequency is constant. In terms of the model-based control, the model plant in the singularly perturbed system is added at the controller/actuator to stabilize the original singularly perturbed system with periodically updating its state by the actual state of the plant provided by the sensor. Moreover, under some certain conditions, independent of the small parameter, the existence of the bound of the small parameter is shown to guarantee the globally exponential stability of the whole closed-loop singularly perturbed system. In addition, a numerical simulation is shown to illustrate the results of the paper.

Singular perturbation method for boundary value problems in two-parameter discrete control systems

International Journal of Systems Science, 1988

ABSTRACT The three types of boundary value problem arising in singularly perturbed discrete contr... more ABSTRACT The three types of boundary value problem arising in singularly perturbed discrete control systems with two small parameters are considered. Each of these problems possesses three widely different clusters of eigenvalues, resulting in one slow mode and two stable or unstable fast modes and thereby exhibiting a three-time-scale character. Singular perturbation methods are developed to obtain approximate solutions in terms of an outer series solution and two boundary layer correction series solutions corresponding to the two small parameters. Three examples are given to illustrate the proposed methods for the three types of problem.

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009

This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy infer... more This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy inference system (ANFIS) and hard computing or control technique of finite-time linear quadratic optimal control for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand. In particular, ANFIS is used for inverse kinematics, and the optimal control is used for feedback linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance.

Singular perturbation method for initial-value problems with inputs in discrete control systems

International Journal of Control, 1981

... Page 2. 954 DS Naidu aud AK Rao of an outer series and a correction series. ... (13) Page 4. ... more ... Page 2. 954 DS Naidu aud AK Rao of an outer series and a correction series. ... (13) Page 4. 956 DS Naidu and AK Roo The method of recovery of the lost initial conditions is thus clearly demons-trated in 'tl~e case of a simple second-order system. ...

IEEE International Conference on Electro-Information Technology , EIT 2013, 2013

This paper presents a reduced-order H∞ optimal control for wind energy conversion systems. Two di... more This paper presents a reduced-order H∞ optimal control for wind energy conversion systems. Two different timescale (slow and fast) dynamics of wind energy conversion systems are separated and processed independently using the singular perturbation theory. By using the decomposition technique, low-order, independent H∞ optimal filters and controllers are obtained, which provide computational advantages and enable implementations with different sampling rates. The control robustness and efficiency are shown by computer simulations.

Time-optimal control algorithm for two-time-scale discrete system

International Journal of Control, 1988

A linear, shift-invariant discrete system exhibiting two-time-scale (slow and fast) character is ... more A linear, shift-invariant discrete system exhibiting two-time-scale (slow and fast) character is addressed. An iterative algorithm based on linear programming for the computation of time-optimal control is presented by decoupling the original system into slow and fast subsystems. It is found that the computation time and storage capacity for the computation of time-optimal control of the slow and fast subsystems is less than that required for the original system. A numerical example is provided to illustrate the proposed algorithm.

2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), 2011

Singular perturbation method for the transient analysis of a transformer

Electric Power Systems Research, 1982

ABSTRACT

Experimental validation for nonlinear estimation and tracking using finite-horizon SDRE

2014 International Conference on Power, Control and Embedded Systems (ICPCES), 2014

sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010

Abstract—This paper presents an intelligent adaptive neuro-fuzzy inference system (ANFIS) based f... more Abstract—This paper presents an intelligent adaptive neuro-fuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping ...

Blood Glucose Regulation for Diabetic Mellitus Using a Hybrid Intelligent Techniques

Dynamic Systems and Control, Parts A and B, 2005

Singularly perturbed nonlinear difference equations and closed-loop discrete optimal control problem

Lecture Notes in Mathematics, 1985

Three-time-scale difference equations with application to open-loop optimal control problem

Lecture Notes in Mathematics, 1985

Modelling and analysis of singularly perturbed difference equations in state space form

Lecture Notes in Mathematics, 1985

Tracking of a robotic hand via SD-DRE and SD-DVE strategies

2016 UKACC 11th International Conference on Control (CONTROL), 2016

Singular perturbation analysis of difference equations in classical form

Lecture Notes in Mathematics, 1985

International Journal of Robotics and Automation Technology, 2014

This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger... more This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger robotic hand to improve accuracy and reduce convergence time by modifying the performance index embedded with an exponential term. First, the trajectory planning of the joints of each finger is designed by using cubic polynomial. Then the kinematic and dynamic equations of the robotic hand and feedback linearization technique are employed. Next, the original and modified optimal control methods are applied to the robotic hand. Finally, simulations show that the proposed modified optimal control technique provides much faster response with high accuracy compared to a hybrid genetic algorithmtuned PID control.

Singular Perturbation Analysis of Discrete Control Systems

Lecture Notes in Mathematics, 1985

... Singular perturbation analysis of discrete control systems. Post a Comment. CONTRIBUTORS: Aut... more ... Singular perturbation analysis of discrete control systems. Post a Comment. CONTRIBUTORS: Author: Naidu, DS (b. 1940, d. ----. Author: Rao, AK (b. 1936, d. ----. PUBLISHER: Springer-Verlag (Berlin and New York). SERIES TITLE: YEAR: 1985. ...

IASTED Technology Conferences / 705: ARP / 706: RA / 707: NANA / 728: CompBIO, 2010

This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic h... more This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic hand. To speed up the performance and improve the accuracy, we modified the performance index by including an exponential term. First, we developed the differential kinematics for a serial n-link revolute-joint planar manipulator to computer the angular velocities and angular accelerations of each finger. Further, the trajectory planning of the orientation was designed by using cubic polynomial. Simulations show that the proposed technique provides fast action with high accuracy and 30-fold faster than ANFIS or GA based trajectory planning.

Discrete modelling of singularly perturbed continuous systems

International Journal of Modelling and Simulation

On model-based networked control of singularly perturbed systems

2008 27th Chinese Control Conference, 2008

ABSTRACT In this paper, the state feedback control of the linear singularly perturbed plant is st... more ABSTRACT In this paper, the state feedback control of the linear singularly perturbed plant is studied, where the sensor and the controller/actuator are connected via a network and the transmission frequency is constant. In terms of the model-based control, the model plant in the singularly perturbed system is added at the controller/actuator to stabilize the original singularly perturbed system with periodically updating its state by the actual state of the plant provided by the sensor. Moreover, under some certain conditions, independent of the small parameter, the existence of the bound of the small parameter is shown to guarantee the globally exponential stability of the whole closed-loop singularly perturbed system. In addition, a numerical simulation is shown to illustrate the results of the paper.

Singular perturbation method for boundary value problems in two-parameter discrete control systems

International Journal of Systems Science, 1988

ABSTRACT The three types of boundary value problem arising in singularly perturbed discrete contr... more ABSTRACT The three types of boundary value problem arising in singularly perturbed discrete control systems with two small parameters are considered. Each of these problems possesses three widely different clusters of eigenvalues, resulting in one slow mode and two stable or unstable fast modes and thereby exhibiting a three-time-scale character. Singular perturbation methods are developed to obtain approximate solutions in terms of an outer series solution and two boundary layer correction series solutions corresponding to the two small parameters. Three examples are given to illustrate the proposed methods for the three types of problem.

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009

This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy infer... more This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy inference system (ANFIS) and hard computing or control technique of finite-time linear quadratic optimal control for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand. In particular, ANFIS is used for inverse kinematics, and the optimal control is used for feedback linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance.

Singular perturbation method for initial-value problems with inputs in discrete control systems

International Journal of Control, 1981

... Page 2. 954 DS Naidu aud AK Rao of an outer series and a correction series. ... (13) Page 4. ... more ... Page 2. 954 DS Naidu aud AK Rao of an outer series and a correction series. ... (13) Page 4. 956 DS Naidu and AK Roo The method of recovery of the lost initial conditions is thus clearly demons-trated in 'tl~e case of a simple second-order system. ...

IEEE International Conference on Electro-Information Technology , EIT 2013, 2013

This paper presents a reduced-order H∞ optimal control for wind energy conversion systems. Two di... more This paper presents a reduced-order H∞ optimal control for wind energy conversion systems. Two different timescale (slow and fast) dynamics of wind energy conversion systems are separated and processed independently using the singular perturbation theory. By using the decomposition technique, low-order, independent H∞ optimal filters and controllers are obtained, which provide computational advantages and enable implementations with different sampling rates. The control robustness and efficiency are shown by computer simulations.

Time-optimal control algorithm for two-time-scale discrete system

International Journal of Control, 1988

A linear, shift-invariant discrete system exhibiting two-time-scale (slow and fast) character is ... more A linear, shift-invariant discrete system exhibiting two-time-scale (slow and fast) character is addressed. An iterative algorithm based on linear programming for the computation of time-optimal control is presented by decoupling the original system into slow and fast subsystems. It is found that the computation time and storage capacity for the computation of time-optimal control of the slow and fast subsystems is less than that required for the original system. A numerical example is provided to illustrate the proposed algorithm.

2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), 2011

Singular perturbation method for the transient analysis of a transformer

Electric Power Systems Research, 1982

ABSTRACT

Experimental validation for nonlinear estimation and tracking using finite-horizon SDRE

2014 International Conference on Power, Control and Embedded Systems (ICPCES), 2014