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This paper presents an adaptive intelligent steering controller using backstepping sliding-mode control and recurrent wavelet fuzzy cerebellar model articulation controller (RWFCMAC) and for an uncertain ball-riding human transporter in presence of significant system uncertainties. The proposed controller operates at two independent modes: self-balancing and station keeping. The self-balancing mode...
This paper presents an direct adaptive control for an uncertain electric seatless unicycle using wavelet fuzzy cerebella model articulation controller (WFCMAC). The WFCMAC is proposed to approximate the equivalent control part and uncertainties. A nonlinear backstepping sliding-mode controller with on-line adaptive laws is presented to accomplish adaptive robust self-balancing and speed control of...
Although there are many interesting and emerging technologies in the specialized area of intelligent learning in control systems, this chapter is devoted to four significant technical areas: reinforcement learning (RL), evolutionary learning control (ELC) using evolutionary algorithms (EAs), intelligent learning control, and learning via case‐based reasoning (CBR). The resolving framework about reinforcement...
Exploring an unknown environment for a multi-robot system (MRS) is the problem of controlling a team of robots over all points of a given region in an efficient and safety manner. In this paper a cooperative exploration approach is developed by using a robot-sensor-network (RSN) and communication system and the technique of minimal information entropy. The exploration strategy is able to be divided...
This paper presents an intelligent adaptive trajectory tracking controller using fuzzy basis function networks (FBFN) for an autonomous small‐scale helicopter. The FNFN is used online to learn the vehicle mass and the coupling effect between the force and the moments, and the intelligent adaptive controller then is synthesized systematically using a backstepping technique. This controller is designed...
This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncertainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider's inclination angles in both two axes (x-z and y-z axis), and...
This paper presents a novel two degrees-of-freedom (DOF) digital controller using radial basis function neural network (RBFNN) for a stretch polyethylene-terephthalate (PET) blow molding machine, in order to achieve satisfactory temperature control of the PET bottle performs passing through both heating ovens. The proposed two-DOF controller is composed of a feedforward controller used to improve...
This paper addresses the decentralized formation stabilization issues using relative distance measurements for a class of nonholonomic multi-robot formation systems (NMRFS) under the assumption of each robot having its own stable trajectory tracking controller. This class of NMRFS, composed by n nonholonomic wheeled mobile robots (WMRs), is regarded as an abstracted system which mathematically describes...
This paper presents a fuzzy decentralized extended information filter (FDEIF) method for dynamic pose tracking of an autonomous omnidirectional mobile robot (AOMR) driven by omnidirectional Mecanum wheels in indoor environments by fusing measurements from one KINECT sensor, one laser scanner and four encoders mounted on the omnidirectional Mecanum wheels. A FDEIF method is proposed to achieve multisensory...
This paper presents techniques for system design and interval type-2 (IT2) fuzzy gear-changing control of an electronic gear-changing control system in an intelligent bike. After detailed description of the system structure and key components of the electronic gear-changing control system, the dynamic relationship between the pedaling power and the motion of the bike is mentioned for simulation studies...
In this paper, a two-loop PID (proportional integral derivative) controller is presented for a class of solar water-source heat pump systems (SWSHPS), which provide warm water with desired temperature for a semiconductor factory. A combination of the well-known particle swarm optimization (PSO) and real-coded genetic algorithm (RGA) is proposed to off-line optimally find the controller parameters...
This paper presents an adaptive backstopping station-keeping control using recurrent wavelet fuzzy cerebella model articulation controller (RWFCMAC) for omnidirectional ball-driven chairs used in indoor environments. Lagrangian mechanics is adopted to establish a coupled mathematical model of the vehicle; when the nutation angle is sufficiently small, this model is shown to be consistent with the...
This paper presents a biological inverse kinematics (IK) method and a trajectory tracking approach for a 7-DOF robotic manipulator. The system structure of the manipulator is first designed and its forward kinematics is then derived using its Denavit-Hartenberg (DH) parameters. Based on the DH model, an inverse kinematics method using the combination of particle-swarm optimization (PSO) and real coded...
This paper presents a global pose localization method using decentralized extended information filter (DEIF) for an autonomous omnidirectional mobile robot (AOMR) driven by omnidirectional Mecanum wheels in indoor environments by fusing measurements from one KINECT sensor, one laser scanner and four encoders mounted on the omnidirectional Mecanum wheels. The KINECT sensor is used to recognize two...
This paper presents an adaptive steering control of an electric seatless unicycle using fuzzy cerebella model articulation controller (FCMAC), which are employed to approximate the frictions between the wheel and terrain surface. A backstepping controller with on-line parameter tuning rules is then presented to simultaneously achieve self-balancing and forward motion of the vehicle based on the rider's...
This paper presents a self-balancing controller using Wavelet Fuzzy CMAC (WFCMAC) technology for uncertain omnidirectional ball-driven vehicle. The vehicle is designed to self-balancing and motion control by following the rider's inclination angles in both two axes (x-z and y-z axis). The backstepping technique with WFCMAC for nonlinear model will be designed to overcome significant system uncertainties...
This paper presents an intelligent adaptive steering control using backstepping aggregated hierarchical sliding-mode control approach and interval type 2 fuzzy neural networks (IT2FNN) for uncertain electric seatless unicycles. The backstepping hierarchical sliding-mode control approach is used to simultaneously achieve self-balancing and speed control, and the IT2FNN is employed to on-line learn...
This paper develops techniques and methodologies for global path planning and navigation of a Mecanum-wheeled omnidirectional mobile robot (MWOMR). The proposed navigation system is composed of three modules: odometry, nonsingular terminal sliding-mode (NTSM) dynamic motion controller, and global path planner, which have been implemented using the SoPC technology. The odometry is constructed by using...
This paper presents a fast pose position and posture control method for an anthropomorphous seven degrees-of-freedom (DOF) dual-arm mobile robot. The method is aimed to control the dual arm from their initial position and posture to a destination position and posture, and it consists of two phases: coarse and refined. In the coarse phase, an analytical inverse kinematic method together with a trajectory...
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