Related papers: Comparisons of Fuzzy MRAS and PID Controllers for …
This study explores an energy-efficient control strategy for spacecraft inspection using a fuzzy inference system combined with a bio-inspired optimization technique to incorporate learning capability into the control process. The optimized…
Reinforcement Learning (RL) is an emerging approach to control many dynamical systems for which classical control approaches are not applicable or insufficient. However, the resultant policies may not generalize to variations in the…
This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
This paper provides a systematic review of emerging control techniques used for railway Virtual Coupling (VC) studies. Train motion models are first reviewed, including model formulations and the force elements involved. Control objectives…
Payload-specific vibration control may be suitable for a particular task but lacks generality and transferability required for adapting to the various payload. Self-decoupling and robust vibration control are the crucial problems to achieve…
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially overlapped camera systems, named MAVIS. Our framework fully exploits the benefits of wide field-of-view from multi-camera systems, and the…
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system including the nonlinear active compliance control and the active impedance…
We look into minimizing the hydrogen fuel consumption of hydrogen hybrid trains by optimizing their operation. The powertrain considered is a fuel cell charge-sustaining hybrid. Convex optimization is utilized to compute optimal speed and…
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 independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to…
An efficient urban bus control system has the potential to significantly reduce travel delays and streamline the allocation of transportation resources, thereby offering enhanced and user-friendly transit services to passengers. However,…
Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
This paper presents the design and implementation of data-driven optimal derivative feedback controllers for an active magnetic levitation system. A direct, model-free control design method based on the reinforcement learning framework is…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
In this paper, a novel Energy Management System (EMS) algorithm to achieve optimal Electric Vehicle (EV) charging scheduling at the parking lots of electric railway stations is proposed. The proposed approach uncovers the potential of…
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…