Related papers: Fuzzy-based Navigation and Control of a Non-Holono…
This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
An architecture of a new neuro-fuzzy system is proposed. The basic idea of this approach is to tune both synaptic weights and membership functions with the help of the supervised learning and self-learning paradigms. The approach to solving…
This thesis presents fuzzy-L1 adaptive controller and Model Reference Adaptive Control (MRAC) with Prescribed Performance Function (PPF) as two adaptive approaches for high nonlinear systems as two original contribution to the literature.…
Cultural adaptation, i.e., the matching of a robot's behaviours to the cultural norms and preferences of its user, is a well known key requirement for the success of any assistive application. However, culture-dependent robot behaviours are…
This paper describes the use of fuzzy logic controller for efficiency optimization control of a drive while keeping good dynamic response. At steady-state light-load condition, the fuzzy controller adaptively adjusts the excitation current…
This paper briefly elaborates on a development in (applied) fuzzy logic that has taken place in the last couple of decades, namely, the complementation or even replacement of the traditional knowledge-based approach to fuzzy rule-based…
Computer vision applications are omnipresent nowadays. The current paper explores the use of fuzzy logic in computer vision, stressing its role in handling uncertainty, noise, and imprecision in image data. Fuzzy logic is able to model…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
This paper proposes a novel fuzzy cascaded Proportional-Derivative (PD) controller for under-actuated single-link flexible joint manipulators. The original flexible joint system is considered as two coupled $2^{nd}$-order sub-systems. The…
At recent times, with the incremental demand of the fully autonomous system, a huge research interest is observed in learning machine based intelligent, self-organizing, and evolving controller. In this work, a new evolving and…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is…
The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…
This paper proposes a new approach to multi-sensor data fusion. It suggests that aggregation of data from multiple sensors can be done more efficiently when we consider information about sensors' different characteristics. Similar to most…
This paper proposes a robust design of Hybrid Fuzzy Controller for speed and steering angle control in an Intelligent Autonomous Parking System (IAPS). The Hybrid Fuzzy Controller consists of a Base Fuzzy Controller (BFC) and a Supervisory…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…