相关论文: Traction and Stability Control using Fuzzy-based C…
In this paper we craft a cascaded fuzzy controlling system for the traditional Truck-and-Trailer Backer-Upper problem, which is a benchmarking for testing various intelligent controlling systems. Inspired by the most inclination of human…
Maintaining both path-tracking accuracy and yaw stability of distributed drive electric vehicles (DDEVs) under various driving conditions presents a significant challenge in the field of vehicle control. To address this limitation, a…
The four-wheel independent drive and four-wheel independent steering (4WID-4WIS) configurations enhance control flexibility and dynamic performance potential for more integrated electric vehicles. This paper comprehensively analyzes the…
Linear quadratic Gaussian (LQG) control is a well-established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In standard laboratory setups, sensor redundancy enables direct…
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…
Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…
A method of a fusion of fuzzy inference and policy gradient reinforcement learning has been proposed that directly learns, as maximizes the expected value of the reward per episode, parameters in a policy function represented by fuzzy rules…
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…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
A novel vehicle traction algorithm solving the traction force allocation problem based on vehicle center point motion feedback controller is proposed in this paper. The center point motion feedback control system proposed utilizes…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
The rise of multi-section continuum robots (CRs) has captivated researchers and practitioners across diverse industries and medical fields. Accurate modeling of these dexterous manipulators continues to be a significant challenge. This…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
This paper describes the use of fuzzy logic controller for efficiency optimization control of a drive while keeping good dynamic response. At steady-state light-load condition, the fuzzy controller adaptively adjusts the excitation current…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
Effective traffic signal control (TSC) is crucial in mitigating urban congestion and reducing emissions. Recently, reinforcement learning (RL) has been the research trend for TSC. However, existing RL algorithms face several real-world…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
In this study, we present a hierarchical fuzzy system by evaluating the risk state for a Driver Assistance System in order to contribute in reducing the road accident's number. A key component of this system is its ability to continually…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…