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This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called "string stability " condition of the convoy. Fuzzy control design is described for each of the follower...
In this paper, fuzzy control strategy is used to improve the stability of sub-mini underwater robots. The sub-mini underwater robots' fuzzy control method in the horizontal plane is mainly discussed here. Based on the language description of the model and according to the closed-loop system's dynamic model, the fuzzy controller language is educed with the inversion of the language model. The closed-loop...
This paper describes the control of an autonomous biped robot capable to be subjected to external pushing forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robotpsilas body...
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