相关论文: Data-driven Fuzzy Control for Time-Optimal Aggress…
Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…
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,…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
Fuzzy modeling has many advantages over the non-fuzzy methods, such as robustness against uncertainties and less sensitivity to the varying dynamics of nonlinear systems. Data-driven fuzzy modeling needs to extract fuzzy rules from the…
The growing number of noncooperative flying objects has prompted interest in sample-return and space debris removal missions. Current solutions are both costly and largely dependent on specific object identification and capture methods. In…
The goal of this paper is to develop data-driven control design and evaluation strategies based on linear matrix inequalities (LMIs) and dynamic programming. We consider deterministic discrete-time LTI systems, where the system model is…
Designing and developing Artificial Intelligence controllers on separately dedicated chips have many advantages. This report reviews the development of a real-time fuzzy logic controller for optimizing locomotion control of a two-wheeled…
Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional…
We present a trajectory-based optimization framework for arrival sequencing and scheduling in the terminal maneuvering area (TMA). Unlike node-link scheduling models that reduce trajectories to time-delay variables, the proposed method…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has…
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes the problem into a trajectory generation layer and a…
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…
In this paper, we propose a unified stochastic optimal control framework that integrates time-optimal control problems with classical stochastic optimal control formulations. Unlike conventional deterministic time-optimal control models,…
This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
We present a system for generating arbitrary, triaxial magnetic waveforms with a spectral content spanning from DC to tens of kHz, a critical capability for quantum control and spin manipulation. To compensate for amplifier-coil dynamics,…
We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…
Obtaining predictive low-order models is a central challenge in fluid dynamics. Data-driven frameworks have been widely used to obtain low-order models of aerodynamic systems; yet, resulting models tend to yield predictions that grow…
This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…