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Consider a truck filled with boxes of varying size and unknown mass and an industrial robot with end-effectors that can unload multiple boxes from any reachable location. In this work, we investigate how would the robot with the help of a…
This paper presents a method based on precise modeling of traffic flow using a fuzzy-real algorithm for optimal control of a signalized intersection. By improving social indicators such as security, well-fare and economy, intercity…
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe,…
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy…
Fuzz testing (or fuzzing) is an effective technique used to find security vulnerabilities. It consists of feeding a software under test with malformed inputs, waiting for a weird system behaviour (often a crash of the system). Over the…
In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…
We consider a stochastic control problem which is composed of a controlled stochastic differential equation, and whose associated cost functional is defined through a controlled backward stochastic differential equation. Under appropriate…
Motivated by the applications, a class of optimal control problems is investigated, where the goal is to influence the behavior of a given population through another controlled one interacting with the first. Diffusive terms accounting for…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints. The proposed methodology brings together concepts such as…
In this paper we proposed an ultimate theory to solve the multi-target control problem through its introduction to the machine learning framework in automatic driving, which explored the implementation of excellent drivers' knowledge…
Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the…
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 adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Evolving fuzzy systems build and adapt fuzzy models - such as predictors and controllers - by incrementally updating their rule-base structure from data streams. On the occasion of the 60-year anniversary of fuzzy set theory, commemorated…
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the center line pose a great challenge to the trajectory planning…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
In this manuscript, decentralized robust interval type-2 fuzzy model predictive control for Takagi-Sugeno large-scale systems is studied. The mentioned large-scale system consists a number of interval type-2 (IT2) fuzzy Takagi-Sugeno (T-S)…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…