Related papers: Design and validation of a fuzzy logic controller …
The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
This paper deals with designing a robust fixed-order dynamic output feedback controller for uncertain fractional order linear time invariant (FO-LTI) systems by means of linear matrix inequalities (LMIs). Our purpose is to design a low…
The induction motors have wide range of applications for due to its well-known advantages like brushless structures, low costs and robust performances. Over the past years, many kind of control methods are proposed for the induction motors…
This paper investigates the finite-time adaptive fuzzy tracking control problem for a class of pure-feedback system with full-state constraints. With the help of Mean-Value Theorem, the pure-feedback nonlinear system is transformed into…
This paper presents a fuzzy inference system for voltage/reactive power control in distribution substations. The purpose is go forward to automation distribution and its implementation in isolated power systems where control capabilities…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…
Robot reliability has become an increasingly important issue in the last few years due to increased application of robots in many industries (like automobile industry) under hazardous and unstructured environment. As the component failure…
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the development of more advanced solutions. To address this, DESectBot, a…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
In this paper the design of a control system for a biped robot is described. Control is specified for a walk cycle of the robot. The implementation of the control system was done on Matlab Simulink. In this paper a hierarchical fuzzy logic…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
The automatic design of controllers for mobile robots usually requires two stages. In the first stage,sensorial data are preprocessed or transformed into high level and meaningful values of variables whichare usually defined from expert…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…
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…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…