Related papers: Hybrid Fuzzy Control of Nonlinear Inverted Pendulu…
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…
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 proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid LPV synthesis problem is reformulated…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of 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…
We address the path-wise control of systems described by a set of nonlinear stochastic differential equations. For this class of systems, we introduce a notion of stochastic relative degree and a change of coordinates which transforms the…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…
This paper describes the speed control of a DC series motor for an accurate and high-speed performance. A neural network based controlling operation with fuzzy modeling is suggested in this paper. The driver units of these machines are…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional…
In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled…