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This paper investigates the controller optimization for a helicopter system with three degrees of freedom (3-DOF). To control the system, we combined fuzzy logic with adaptive control theory. The system is extensively nonlinear and highly…
In this paper, a robust adaptive type-2 fuzzy higher order sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances.…
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 presents a novel neuro-fuzzy model, termed fuzzy recurrent stochastic configuration networks (F-RSCNs), for industrial data analytics. Unlike the original recurrent stochastic configuration network (RSCN), the proposed F-RSCN is…
A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. Among the most successful methods to automate the fuzzy controllers development process are…
Self-adaptive system (SAS) is capable of adjusting its behavior in response to meaningful changes in the operational context and itself. Due to the inherent volatility of the open and changeable environment in which SAS is embedded, the…
A weighted summation of Integral of Time Multiplied Absolute Error (ITAE) and Integral of Squared Controller Output (ISCO) minimization based time domain optimal tuning of fractional-order (FO) PID or PI{\lambda}D{\mu} controller is…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
Pendulum-driven systems have emerged as a notable modification of vibro-impact mechanisms, replacing the conventional mass-on-spring oscillator with a pendulum. Such systems exhibit intricate behavior resulting from the interplay of…
This paper studies the partially observed stochastic optimal control problem for systems with state dynamics governed by partial differential equations (PDEs) that leads to an extremely large problem. First, an open-loop deterministic…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
Simulation is an efficient tool in the design and control of power electronic systems. However, quick and accurate simulation of them is still challenging, especially when the system contains a large number of switches and state variables.…
Two ways of designing low-order discrete-time (i.e. digital) controls for low-order plant (i.e. process) models are considered in this tutorial. The first polynomial method finds the controller coefficients that place the poles of the…
This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coarse-ID control, that estimates a model from a few experimental…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
In this paper we consider a linear system structured into physically coupled subsystems and propose a decentralized control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. The…
The use of conventional actuators in robotic systems (electric motors in particular), while often offering advantages in terms of flexibility and controllability, suffer from primary actuator failure,due to unexpected complexities in their…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…