Related papers: Comparisons of Fuzzy MRAS and PID Controllers for …
In this paper we craft a cascaded fuzzy controlling system for the traditional Truck-and-Trailer Backer-Upper problem, which is a benchmarking for testing various intelligent controlling systems. Inspired by the most inclination of human…
Robust controllers that stabilize dynamical systems even under disturbances and noise are often formulated as solutions of nonsmooth, nonconvex optimization problems. While methods such as gradient sampling can handle the nonconvexity and…
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and therapeutic procedures. We developed a trileg magnetically…
Magnetized Liner Inertial Fusion (MagLIF) is a magneto-inertial-fusion (MIF) concept, which is presently being studied on the Z Pulsed Power Facility. The MagLIF platform has achieved interesting plasma conditions at stagnation and produced…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
Mobile Networks are in need of what we call as an e-age. There have been numerous advancements in this field and soft computing has gained roots in this Mobile Ad-hoc Network domain. This documents studies the use of fuzzy logic over Ad Hoc…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
Vision language models (VLMs) are increasingly deployed as controllers with access to external tools for complex reasoning and decision-making, yet their effectiveness remains limited by the scarcity of high-quality multimodal trajectories…
Multi-active bridge (MAB) converters, the core of the state-of-the-art medium-voltage power electronic transformers, can flexibly connect multiple DC ports among distributed DC grids and loads, but suffer from hard switching under…
In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…
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…
We optimize the operation of a fuel cell hybrid train using convex optimization. The main objective is to minimize hydrogen fuel consumption for a target journey time while considering battery thermal constraints. The state trajectories:…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
This paper presents a data-driven supervisory energy management strategy (EMS) for plug-in hybrid electric vehicles which leverages Vehicle-to-Cloud connectivity to increase energy efficiency by learning control policies from completed…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
In this paper, the model predictive control (MPC) problem is investigated for the constrained discrete-time Takagi-Sugeno fuzzy Markovian jump systems (FMJSs) under imperfect premise matching rules. To strike a balance between initial…
Reliability assessment of distribution system, based on historical data and probabilistic methods, leads to an unreliable estimation of reliability indices since the data for the distribution components are usually inaccurate or…
The present proliferation of e-learning has been actively underway for the last 10 years. Current research in Adaptive Testing System focuses on the development of psychometric models with items selection strategies applicable to adaptive…