相关论文: Adaptive Neuro-Fuzzy Control of a Spherical Rollin…
As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively static and known operating environments. However, when an…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
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 paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model.…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
In this work, we comprehensively reveal the learning dynamics of neural network with normalization, weight decay (WD), and SGD (with momentum), named as Spherical Motion Dynamics (SMD). Most related works study SMD by focusing on "effective…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Chattering phenomena is the major problem affecting sliding mode control (SMC). Also, finding a suitable structure and appropriate parameters values of fuzzy logic system (FLS) is a complex and difficult task. In addition, the stability of…
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…
This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning scheme and sliding mode control (SMC) theory. The SLDO is…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…