Related papers: Sliding mode control with a neural network compens…
This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a…
The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…
In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling…
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box,…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
In order to achieve faster and more robust convergence (especially under noisy working environments), a sliding mode theory-based learning algorithm has been proposed to tune both the premise and consequent parts of type-2 fuzzy neural…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial processes. Their conventional models become inappropriate and have limited scope if one requires a precise and…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
This paper considers the stabilization of unknown switched linear systems using data. Instead of a full system model, we have access to a finite number of trajectories of each of the different modes prior to the online operation of the…
This paper investigates the control of flow networks, where the control objective is to regulate the measured output (e.g storage levels) towards a desired value. We present a distributed controller that dynamically adjusts the inputs and…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
In this paper we deal with a feedback control design for the action potential of a neuronal membrane in relation with the non-linear dynamics of the Hodgkin-Huxley mathematical model. More exactly, by using an external current as a control…
Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…
Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…
This paper studies the feedback stabilization problem of the motion of a tank that contains an incompressible, Newtonian, viscous liquid. The control input is the force applied on the tank and the overall system consists of two nonlinear…