Related papers: A Novel Self-Organizing PID Approach for Controlli…
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
In the interconnected power system network, instability problems are caused mainly by the low frequency oscillations of 0.2 to 2.5 Hz. The supplementary control signal in addition with AVR and high gain excitation systems are provided by…
The multiple-target self-organizing pursuit (SOP) problem has wide applications and has been considered a challenging self-organization game for distributed systems, in which intelligent agents cooperatively pursue multiple dynamic targets…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…
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…
The proportional-integral-derivative (PID) control law is often overlooked as a computational imitation of the critic control in human decision. This paper provides a formulation to remedy this problem. Further, based on the characteristic…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…
This paper introduces a novel zero-force control method for upper-limb exoskeleton robots, which are used in a variety of applications including rehabilitation, assistance, and human physical capability enhancement. The proposed control…
The system's ability to adapt and self-organize are two key factors when it comes to how well the system can survive the changes to the environment and the plant they work within. Intelligent control improves these two factors in…
An architecture of a new neuro-fuzzy system is proposed. The basic idea of this approach is to tune both synaptic weights and membership functions with the help of the supervised learning and self-learning paradigms. The approach to solving…
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge…
In the past decades, fuzzy logic has played an essential role in many research areas. Alongside, graph-based pattern recognition has shown to be of great importance due to its flexibility in partitioning the feature space using the…
Deterministic solutions to the Sn transport equation can be computationally expensive to calculate. Reduced Order Models (ROMs) provide an efficient means of approximating the Full Order Model (FOM) solution. We propose a novel approach for…
In this paper, a comparative study is done on the time and frequency domain tuning strategies for fractional order (FO) PID controllers to handle higher order processes. A new fractional order template for reduced parameter modeling of…