Related papers: Comparisons of Fuzzy MRAS and PID Controllers for …
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…
The concept of uncertainty is posed in almost any complex system including parallel robots as an outstanding instance of dynamical robotics systems. As suggested by the name, uncertainty, is some missing information that is beyond the…
Trains are a corner stone of public transport and play an important role in daily life. A challenging task in train operation is to avoid skidding and sliding during fast changes of traction conditions, which can, for example, occur due to…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…
In recent years, developments in plug in hybrid electric vehicles have provided various environmental and economic advantages. In the future smart grids, electric vehicles are seen as an important means of transportation to reduce…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
This paper presents a hierarchical decision-making framework for autonomous navigation in four-wheel independent steering and driving (4WISD) systems. The proposed approach integrates deep reinforcement learning (DRL) for high-level…
In this paper, we demonstrate the exactness proof for the energy-efficient train control (EETC) model based on convex optimization. The proof of exactness shows that the convex optimization model will share the same optimization results…
Mobility impairments, particularly those caused by stroke-induced hemiparesis, significantly impact independence and quality of life. Current smart walker controllers operate by using input forces from the user to control linear motion and…
Instruction tuning of large vision-language models (LVLMs) increasingly depends on massive multimodal corpora, yet these datasets contain samples with substantial redundancy, low visual dependency, and highly imbalanced coverage of…
Reinforcement learning (RL) and model predictive control (MPC) each offer distinct advantages and limitations when applied to control problems in power and energy systems. Despite various studies on these methods, benchmarks remain lacking…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
Electrohydraulic servosystems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high…
Several previous experimental and theoretical studies have shown that a leading edge vortex (LEV) on an airfoil or wing can provide lift enhancement. In this paper, unsteady 2D potential flow theory is employed to model the flow field of a…
Reliable data transmissions and offering better mobility to the end user can be achieved by integrating different communication systems. In this paper, we investigate the performance of a cascaded indoor power line communication…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…