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This paper focusses on the application of fuzzy control techniques (fuzzy type-1 and type-2) and their hybrid forms (Hybrid adaptive fuzzy controller and fuzzy-PID controller) in the area of stabilized platforms. It represents an attempt to…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
To optimize flapping foil performance, the application of deep reinforcement learning (DRL) on controlling foil non-parametric motion is conducted in the present study. Traditional control techniques and simplified motions cannot fully…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
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…
We discuss boundary control of a wave equation with a non-linear anti-damping boundary condition. We design structured finite-dimensional $H_\infty$-output feedback controllers which stabilize the infinite dimensional system exponentially…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging…
Control systems are an integral part of almost every engineering and physical system and thus their accurate analysis is of utmost importance. Traditionally, control systems are analyzed using paper-and-pencil proof and computer simulation…
The motion of several plates in an inviscid and incompressible fluid is studied numerically using a vortex sheet model. Two to four plates are initially placed in-line, separated by a specified distance, and actuated in the vertical…
In this paper, we propose a nonintrusive filter-based stabilization of reduced order models (ROMs) for uncertainty quantification (UQ) of the time-dependent Navier-Stokes equations in convection-dominated regimes. We propose a novel…
The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…
This article is dedicated to the investigation of the stabilization problem of a flexible beam attached to the center of a rotating disk. We assume that the feedback law contains a nonlinear torque control applied on the disk and nonlinear…
In this work, we investigate the state stabilization and trajectory tracking problems of underactuated surface ships with full state model of having non-diagonal inertia and damping matrices. By combining the novel state transformations,…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Pump foiling enables a hydrofoil surfboard to sustain forward motion on flat water using only periodic leg pumping, converting vertical oscillations into hydrodynamic lift and thrust. We present a minimal mechanical model of pump foil…
Recent theoretical works exploring the hydrodynamics of soft material in non-equilibrium situations are reviewed. We discuss the role of hydrodynamic interactions for three different systems: i) the deformation and orientation of…
We derive a minimal continuum model to investigate the hydrodynamic mechanism behind the fingering instability recently discovered in a suspension of microrollers near a floor [Driscoll et al. Nature Physics, 2016]. Our model, consisting of…
We consider the Navier-Stokes system in a bounded domain with a smooth boundary. Given a sufficiently regular time-dependent global solution, we construct a finite-dimensional feedback control that is supported by a given open set and…