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Vehicle active safety systems can assist the driver to retain control of the vehicle in situations where the vehicle might lose control. This paper considers achieving vehicle active safety by employing a safety-assistance brake controller to perform anti-lock control, brake-based traction control, yaw-stability control and brake-force distribution. Main difficulties in synthesizing the safety-assistance...
Motion controllers capable of incremental learning and optimization can automatically tune their parameters to pursue optimal control. By implementing reinforcement learning and approximate dynamic programming, an adaptive critic motion controller is shown able to achieve this objective. The control policy and the adaptive critic are implemented by sparse radial basis function networks. The policy...
Autonomous drive of wheeled mobile robot (WMR) needs implementing velocity and path tracking control subject to complex dynamical constraints. Conventionally, this control design is obtained by analysis and synthesis of the WMR system. This paper presents the dual heuristic programming (DHP) adaptive critic design of the motion control system that enables WMR to achieve the control purpose simply...
This paper presents an adaptive critic neuro-fuzzy control design, which enables learning from scratch to achieve the control objective. The learning algorithm is derived from the Dual Heuristic Programming (DHP) method to approximate optimal control. The learning structure contains the action, critic and verification neuro-fuzzy networks each corresponding to the first-order Sugeno fuzzy model. The...
Based on analysis of logistic mapping's time serials and bifurcation, the result that logistic mapping under chaos and period have some same characters is found out, though the two states are different in details but they have the same trend as time evolved. So the concept of chaos synchronization can be enlarged, from the synchronization of two chaos systems to the synchronization of chaos system...
An autonomous mobile robot navigation system based on stereovision perception is developed. The surroundings are recognized by constructing local 3D maps from binocular images. Minimizing the artificial potential energy of the mobile robot on a local 3D map plans a relay position and an approaching path. A self-learning controller using adaptive fuzzy systems is designed to manipulate the dynamic...
Optimal output-tracking control of unknown nonlinear motion systems with multivariable structure is designed by solving the linear optimal tracker integrated with an adaptive fuzzy compensator. The adaptive fuzzy compensator performs on-line learning to approximate and compensate the unknown nonlinear dynamics of the system so that minimizing a quadratic performance index can obtain the optimal tracker...
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