Related papers: Development of a Sliding Mode Control Based Adapti…
The rapid development and expansion of the EV market marked by the advent of third decade of the 21st century has improved the possibility of a sustainable automotive future. The present EV drivetrain run by BLDC motor has become…
This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…
Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…
This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
... 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…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
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…
There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…
We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However,…
This paper presents a novel Sliding Mode Control (SMC) algorithm to handle mismatched uncertainties in systems via a novel Self-Learning Disturbance Observer (SLDO). A computationally efficient SLDO is developed within a framework of…
A robust auto-landing problem of a Truss-braced Wing (TBW) regional jet aircraft with poor stability characteristics is presented in this study employing a Fuzzy Reinforcement Learning scheme. Reinforcement Learning (RL) has seen a recent…
The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the…