Related papers: Self-Tuning PID Control via a Hybrid Actor-Critic-…

This paper presents a deep Q-network (DQN)-based gain-scheduling framework for safety-critical quadcopter trajectory tracking. Instead of directly learning control inputs, the proposed approach selects from a finite set of pre-certified…

This paper presents a simulation-based comparison between the two controllers, Proportional Integral Derivative (PID), a classical controller and Linear Quadratic Regulator (LQR), an optimal controller, for a linearized quadrotor model. To…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

In this project, we designed a DC motor whose speed can be controlled by a PID controller. The proportional, integral and derivative gains (KP, KI, KD) of the PID controller are adjusted according to Fuzzy logic. First of all, the fuzzy…

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…

Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Deep reinforcement learning (RL) has shown immense potential for learning to control systems through data alone. However, one challenge deep RL faces is that the full state of the system is often not observable. When this is the case, the…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…

This paper evaluates and compares the performance of model-free and model-based reinforcement learning for the attitude control of fixed-wing unmanned aerial vehicles using PID as a reference point. The comparison focuses on their ability…

We consider the problem of controlling an invasive mechanical ventilator for pressure-controlled ventilation: a controller must let air in and out of a sedated patient's lungs according to a trajectory of airway pressures specified by a…

Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control…

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…

Proportional integral derivative (PID) controllers are important and widely used tools in system control. Tuning of the controller gains is a laborious task, especially for complex systems such as combustion engines. To minimize the time of…

Robotic catheterization is typically used for percutaneous coronary intervention procedures nowadays and it involves steering flexible endovascular tools to open up occlusion in the coronaries. In this study, a sample-efficient deep…

Decentralized PID controllers have been designed in this paper for simultaneous tracking of individual process variables in multivariable systems under step reference input. The controller design framework takes into account the…

Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalability. Existing methods that use optimization and distributed…

Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical system and controller into a computational graph and uses…

The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement…