相关论文: A Novel Self-Organizing PID Approach for Controlli…
Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in…
There exist many ways to stabilize an infinite-dimensional linear autonomous control systems when it is possible. Anyway, finding an exponentially stabilizing feedback control that is as simple as possible may be a challenge. The Riccati…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…
Set-point tracking for systems with unknown model parameters is a fundamental problem in control, and two-degree-of-freedom (2DOF) Proportional-Integral (PI) controllers -- consisting of a feedforward controller and PI controller -- are…
The aim of this research is to design a PID Controller using particle swarm optimization (PSO) algorithm for multiple-input multiple output (MIMO) Takagi-Sugeno fuzzy model. The conventional gain tuning of PID controller (such as…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
To solve the coupling problem of control loops and the adaptive parameter tuning problem in the multi-input multi-output (MIMO) PID control system, a self-adaptive LSAC-PID algorithm is proposed based on deep reinforcement learning (RL) and…
This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
Designing a robust controller for Modular Multilevel Converters (MMCs) is crucial to ensure stability and optimal dynamic performance under various operating conditions, including faulty and disturbed scenarios. The primary objective of…
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Today manufacturers are using fuzzy logic in everything from cameras to industrial process control. Fuzzy logic controllers are easier to design and so are cheaper to produce. Fuzzy logic captures the impreciseness inherent in most input…
The great promises of neuromorphic sensing and processing for robotics have led researchers and engineers to investigate novel models for robust and reliable control of autonomous robots (navigation, obstacle detection and avoidance, etc.),…