相关论文: Control Pneumatic Soft Bending Actuator with Feedf…

Fuzzy controllers are efficient and interpretable system controllers for continuous state and action spaces. To date, such controllers have been constructed manually or trained automatically either using expert-generated problem-specific…

This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…

This paper discusses a novel probabilistic approach for the design of robust model predictive control (MPC) laws for discrete-time linear systems affected by parametric uncertainty and additive disturbances. The proposed technique is based…

In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…

Motivated by the perspective of advanced time-series prediction and exploitation of Quantum Reservoir Computing (QRC), we explored the design and implementation of a Hybrid Photonic-Quantum Reservoir Computing (HPQRC) paradigm. It brings…

To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing…

In biological systems, both skin sensitivity and body flexibility play crucial roles in haptic perception. Fully soft robots often suffer from structural fragility and delayed sensory processing, limiting their practical functionality. The…

In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…

Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation…

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…

This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring…

In this paper, a wavelet-based iterative learning control (WILC) scheme with Fuzzy PD feedback is presented for a pneumatic control system with nonsmooth nonlinearities and uncertain parameters. The wavelet transform is employed to extract…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…

This paper presents an active model-based FTC (fault-tolerant control) method for the dynamic positioning of a class of underwater vehicles with thruster redundancy. Compared to the widely used state and parameter estimation methods, this…

The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…

In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…

The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…

The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

In the last decades, the applications of power inverter increased rapidly. As a result, in spite of rectifier, an inverter with a high-power electronic oscillator has capability to convert direct current (DC) into alternating current (AC)…