Related papers: Hybrid Fuzzy Control of Nonlinear Inverted Pendulu…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
... 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…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
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…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
The discipline of automatic control is making increased use of concepts that originate from the domain of machine learning. Herein, reinforcement learning (RL) takes an elevated role, as it is inherently designed for sequential decision…
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…
Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…
There is need for an energy storage device capable of transferring high power in transient situations aboard naval vessels. Currently, batteries are used to accomplish this task, but previous research has shown that when utilized at high…
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…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
In this paper, a novel adaptive tuning method of PID neural network (PIDNN) controller for nonlinear process is proposed. The method utilizes an improved gradient descent method to adjust PIDNN parameters where the margin stability will be…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order…
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC for systems with contact, dynamic models are often…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…