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DOI: https://doi.org/10.15407/techned2017.05.053


Journal Tekhnichna elektrodynamika
Publisher Institute of Electrodynamics National Academy of Sciences of Ukraine
ISSN 1607-7970 (print), 2218-1903 (online)
Issue No 5, 2017 (September/October)
Pages 53 – 61


Y.P. Kondratenko1, Joachim Rudolph2 , O.V. Kozlov3, Y.M. Zaporozhets1, O.S. Gerasin3
1 – Petro Mohyla Black Sea National University,
68 Desantnykiv, 10, Mykolaiv, 54003, Ukraine,
e-mail: Этот e-mail адрес защищен от спам-ботов, для его просмотра у Вас должен быть включен Javascript
2 – Saarland University,
Campus А5 1, Saarbrucken, 66123, Germany
3 – National University of Shipbuilding named after admiral S.I. Makarov,
9, Heroiv Stalinhrada ave., Mykolaiv, 54025, Ukraine



The models of observers for clamping force identification on the basis of ANFIS type hybrid neuro-fuzzy computational system (NFCS) is offered for magnetically operated movers of mobile robots for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of breakaway effort measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are brought that provides effective training NFCS, built into the clamping force automatic control system of the mobile robot. A comparative analysis of the developed observers with different types of membership functions is performed. Results of formed clamping force identification and an analysis of the adequacy of the observers’ synthesized models are presented. References 14, figures 4, tables 3.


Key words: mobile robot; magnetically operated mover; electromagnetic field; clamping electromagnet; clamping force control system; neuro-fuzzy observer.


Received:     13.02.2017
Accepted:     13.06.2017
Published:   17.08.2017



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