Related papers: Designing and Analyzing the PID and Fuzzy Control …
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
This article introduces the idea of decomposition of interval Type-2 fuzzy logic system into two parallel type-1 fuzzy systems. This decomposition avoids the problems associated with type-reduction techniques normally needed in type-2 fuzzy…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
We present computational and experimental results on how artificial intelligence (AI) learns to control an Acrobot using reinforcement learning (RL). Thereby the experimental setup is designed as an embedded system, which is of interest for…
"Smart cities" is the trendy rubric of modern urban projects that require new innovative ideas to attain the desired perfection in many fields to change our life for the better. In this context, a new innovative application will be…
This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler's classical mechanics and Lagrange formalism, which allows find the equations of motion that…
This paper presents an alternative way to the dynamic modeling of a rotational inverted pendulum using the classic mechanics known as Euler-Lagrange allows to find motion equations that describe our model. It also has a design of the basic…
Adjusting the control actions of a wheeled robot to eliminate oscillations and ensure smoother motion is critical in applications requiring accurate and soft movements. Fuzzy controllers enable a robot to operate smoothly while accounting…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
We have designed, built and operated a physical pendulum which allows one to demonstrate experimentally the behaviour of the pendulum under any equation of motion for such a device for any initial conditions. All parameters in the equation…
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…
Cyber-physical systems, also known as CPS, is an emerging field of technology that combines the physical and digital worlds by allowing for seamless interaction and communication between the two. One of the key characteristics of a CPS is…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Learning to make decisions from observed data in dynamic environments remains a problem of fundamental importance in a number of fields, from artificial intelligence and robotics, to medicine and finance. This paper concerns the problem of…