Related papers: Self-Tuning PID Control via a Hybrid Actor-Critic-…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…
This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…
Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
In this study, a heuristic dynamic programming controller is proposed to control a boost converter. Conventional controllers such as proportional integral-derivative (PID) or proportional integral (PI) are designed based on the linearized…
The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and controllers make tuning a challenging task when it is done…
Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…
Unmanned Aerial Vehicles (UAVs) have gained widespread recognition for their diverse applications, ranging from surveillance to delivery services. Among the various control algorithms employed to stabilize and navigate UAVs, the…
Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controllers. Thus, it is…
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 this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
Deep reinforcement learning (DRL) has seen several successful applications to process control. Common methods rely on a deep neural network structure to model the controller or process. With increasingly complicated control structures, the…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Since the classical proportional-integral-derivative (PID) controller is the most widely and successfully used ones in industrial processes, it is of vital importance to investigate theoretically the rationale of this ubiquitous controller…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
In this paper, an adaptive fractional controller has been designed to control chaotic systems. In fact, this controller is a fractional PID controller, which the coefficients will be tuned according to a proper adaptation mechanism. The…