相关论文: Genetic-Algorithm-Based Proportional Integral Cont…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…
The paper presents a Stateflow based network test-bed to validate real-time optimal control algorithms. Genetic Algorithm (GA) based time domain performance index minimization is attempted for tuning of PI controller to handle a balanced…
Genetic Algorithm (GA) has been used in this paper for a new Nyquist based sub-optimal model reduction and optimal time domain tuning of PID and fractional order (FO) PI{\lambda}D{\mu} controllers. Comparative studies show that the new…
We consider frequency control of synchronous generator networks and study transient performance under both primary and secondary frequency control. We model random step changes in power loads and evaluate performance in terms of expected…
This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution…
This paper intends to cover three main topics. First, a fuzzy-PID controller is designed to control the thrust vector of a launch vehicle, accommodating a CanSat. Then, the genetic algorithm (GA) is employed to optimize the controller…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
Genetic Algorithm (GA) has been used in this paper for a new approach of sub-optimal model reduction in the Nyquist plane and optimal time domain tuning of PID and fractional order (FO) PI{\lambda}D{\mu} controllers. Simulation studies show…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen…
Autonomous mobile robots (AMRs), used for search-and-rescue and remote exploration, require fast and robust planning and control schemes. Sampling-based approaches for Model Predictive Control, especially approaches based on the Model…
In the past decade, significant research has been carried out for realizing intelligent network routing using advertisement, position and near-optimum node selection schemes. In this paper, a grade-based two-level node selection method…
Traffic control optimization is a challenging task for various traffic centres in the world and majority of approaches focus only on applying adaptive methods under normal (recurrent) traffic conditions. But optimizing the control plans…
Applying model predictive control on embedded systems remains challenging due to the high computational cost of solving optimal control problems. To address this limitation, computationally efficient Gaussian process approximations of the…
Unpredictable and complex aerodynamic effects pose significant challenges to achieving precise flight control, such as the downwash effect from upper vehicles to lower ones. Conventional methods often struggle to accurately model these…
Accurately controlling a robotic system in real time is a challenging problem. To address this, the robotics community has adopted various algorithms, such as Model Predictive Control (MPC) and Model Predictive Path Integral (MPPI) control.…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…