Related papers: Implementation of Fuzzy Inference Engine for equil…
Fuzzy critic-based learning forms a reinforcement learning method based on dynamic programming. In this paper, an adaptive critic-based neuro-fuzzy system is presented for an unmanned bicycle. The only information available for the critic…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally…
Functional electrical stimulation (FES) is used to activate the dysfunctional lower limb muscles of individuals with neuromuscular disorders to produce cycling as a means of exercise and rehabilitation. However, FES-cycling is still…
Uncertainty and unknown nonlinearity are often inevitable in the suspension systems, which were often solved using fuzzy logic system (FLS) or neural networks (NNs). However, these methods are restricted by the structural complexity of the…
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…
Fuzzy logic controllers are readily customizable in natural language terms and can effectively deal with nonlinearities and uncertainties in control systems. This paper presents an intelligent and automated fuzzy control procedure for the…
Smart structures are usually designed with a stimulus-response mechanism to mimic the autoregulatory process of living systems. In this work, in order to simulate this natural and self-adjustable behavior, a fuzzy feedback linearization…
Functional electrical stimulation (FES) has been increasingly integrated with other rehabilitation devices, including robots. FES cycling is one of the common FES applications in rehabilitation, which is performed by stimulating leg muscles…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative Motion Imitation(IMI), a method that…
The role of inferencing with uncertainty is becoming more important in rule-based expert systems (ES), since knowledge given by a human expert is often uncertain or imprecise. We have succeeded in designing a VLSI chip which can perform an…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
An important constraint of Fuzzy Inference Systems (FIS) is their structured rules defined based on evaluating all input variables. Indeed, the length of all fuzzy rules and the number of input variables are equal. However, in many…
In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
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…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…