相关论文: Interval Valued Fuzzy Modeling and Indirect Adapti…

Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…

The superior interpretability and uncertainty modeling ability of Takagi-Sugeno-Kang fuzzy system (TSK FS) make it possible to describe complex nonlinear systems intuitively and efficiently. However, classical TSK FS usually adopts the…

The concept of uncertainty is posed in almost any complex system including parallel robots as an outstanding instance of dynamical robotics systems. As suggested by the name, uncertainty, is some missing information that is beyond the…

This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…

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…

In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

In the complex landscape of multivariate time series forecasting, achieving both accuracy and interpretability remains a significant challenge. This paper introduces the Fuzzy Transformer (Fuzzformer), a novel recurrent neural network…

This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling…

More and more, new ways of interaction between humans and robots are desired, something that allow us to program a robot in an intuitive way, quickly and with a high-level of abstraction from the robot language. In this paper is presented a…

We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…

In this article, I introduce the notion of Fuzzy-based Higher adaptive order sliding mode observers through the example of the super-twisting adaptive order sliding mode observer. I begin by presenting the super-twisting second order…

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired…

The control of wheel slip dynamics is one of the most critical areas of chassis control, since it is the basis for most critical of the main chassis control subsystems like braking control (ABS), traction control (TCS), and stability…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…

In this paper, we describe an algorithm, based on the well-known Unscented Quaternion Estimator, to estimate external forces and torques acting on a quadrotor. This formulation uses a non-linear model for the quadrotor dynamics, naturally…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…

Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…