Related papers: Hybrid Fuzzy Control of Nonlinear Inverted Pendulu…
This paper presents a fuzzy inference system for voltage/reactive power control in distribution substations. The purpose is go forward to automation distribution and its implementation in isolated power systems where control capabilities…
The paper explains iterative and non-iterative approaches to control optimization with use of the Fourier series-based method. Both variants of the presented algorithm are used to numerically approximate optimal control of a discontinuous…
The integration of different learning paradigms has long been a focus of machine learning research, aimed at overcoming the inherent limitations of individual methods. Fuzzy rule-based models excel in interpretability and have seen…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances…
PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is…
Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The…
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…
We apply an operator-theoretic viewpoint to a class of non-smooth dynamical systems that are exposed to event-triggered state resets. The considered benchmark problem is that of a pendulum which receives a downward kick under certain fixed…
Robot manipulators are extensively used in industrial applications because of their immense importance such as in constructions automation. Therefore, designing controllers to suit the intensive purpose of the application is one of the…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…