Related papers: A Novel Self-Organizing PID Approach for Controlli…

This study introduces a Fractional Order Fuzzy PID (FOFPID) controller that uses the Whale Optimization Algorithm (WOA) to manage the Bispectral Index (BIS), keeping it within the ideal range of forty to sixty. The FOFPID controller…

These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…

In order to achieve faster and more robust convergence (especially under noisy working environments), a sliding mode theory-based learning algorithm has been proposed to tune both the premise and consequent parts of type-2 fuzzy neural…

Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…

To overcome the oscillation problem in the classical momentum-based optimizer, recent work associates it with the proportional-integral (PI) controller, and artificially adds D term producing a PID controller. It suppresses oscillation with…

This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…

In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing…

In this work, we explore the design of an integrated, low power single chip multi-channel Proportional-Integral-Derivative (PID) controller for emerging miniature robotics, that includes N inputs and N corresponding outputs thereby…

This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…

In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…

Trajectory tracking for an Omni-drive robot presents a challenging task that demands an efficient controller design. This paper introduces a self-optimizing controller, Type-1 fuzzyPID, which leverages dynamic and static system response…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…

In this paper, a robust adaptive type-2 fuzzy higher order sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances.…

Locomotion may be induced on three levels. On a classical level, actuators and limbs follow the sequence of open-loop top-down control signals they receive. Limbs may move alternatively on their own, which implies that interlimb…

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…

Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that…

The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…