Related papers: Robust control of wheel slip using weighted fuzzy …
The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition…
In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…
Evolving fuzzy systems build and adapt fuzzy models - such as predictors and controllers - by incrementally updating their rule-base structure from data streams. On the occasion of the 60-year anniversary of fuzzy set theory, commemorated…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
This paper focusses on the application of fuzzy control techniques (fuzzy type-1 and type-2) and their hybrid forms (Hybrid adaptive fuzzy controller and fuzzy-PID controller) in the area of stabilized platforms. It represents an attempt to…
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…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
In this paper, we propose a new systematic approach based on nonquadratic Lyapunov function and technique of introducing slack matrices, for a class of affine nonlinear systems with disturbance. To achieve the goal, first, the affine…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…