This undertaking delves into the designing of a based nonlinear discrete-time control scheme. The control input exploits the feedback linearization technique, the gain scheduling control approach, and genetic algorithms to develop an optimization method, for achieving trajectory tracking objectives. In order to demonstrate the effectiveness of the proposed scheme, the results from this investigation

This paper focuses on active compliance control of hydraulic quadruped robot, especially the analysis of the inner-loop of the coupled system. Current researches on active compliance control regard the bandwidth of the inner loop of the system as infinite, while ignoring that the extra-load will cause the inner-loop response characteristics to deteriorate when the leg is in the stance phase. In this

This paper investigates the consensus tracking problem with predefined performances requirements for a class of unknown nonlinear multi-agent systems with hysteresis quantizer and external disturbances under a directed graph topology. Neural network observers are designed to estimate unmeasurable states and the the consensus tracking problem with performance requirements is transformed to a stabilization

Model matching for asynchronous sequential machines (ASMs) is to design a corrective controller so as to match the stable-state behavior of the closed-loop system to that of a reference model. In this paper, we discuss the model matching problem for ASMs with discrepancy in the initial state. Owing to a lot of practical constraints, the controlled ASM may not commence its operation at the same initial

This paper presents a novel robust H∞ model reference adaptive tracker (MRAT) for a class of nonlinear systems with input nonlinearities, uncertainties, and mismatched disturbances. Since the bounds of input nonlinearities and uncertainties are unknown, a new adaptive controller is proposed to solve these problems. Because the proposed adaptive laws are with convergence, the adaptive gains estimated

This paper develops a filtering-based iterative algorithm for the combined parameter and state estimation problems of bilinear state-space systems, taking account of the moving average noise. In order to deal with the correlated noise and unknown states in the parameter estimation, a filter is chosen to filter the input-output data disturbed by colored noise and a Kalman state observer (KSO) is designed

In this paper, time-varying formation tracking problem for second-order nonlinear multi-agent systems with time-varying communication delays has been investigated, where the followers maintain a predefined time-varying formation while tracking the moving leader. Based on a distributed observer, a formation tracking protocol with time-varying delay is developed using the relative neighboring information

This paper studies the secure consensus control problem of multi-agent systems under DoS attacks on the sensor, the actuator, and the communication topology. A resilient intermediate estimator based attack tolerant control strategy is proposed. By fully exploiting the hardware redundancies, both of the estimators and the control protocols can be reconstructed online according to different DoS attack

In this paper, we are concerned with the boundary output feedback stabilization problem of a Schrödinger equation with a nonlocal term. Firstly, we design an explicit boundary state feedback controller by backstepping approach. Under this controller, the closed-loop system is proved to be exponentially stable from the equivalence between the original system and the target system. Then, we propose an

A robust localization algorithm has been proposed for an Unmanned Surface Vehicle (USV) using DDQN-AM (Double Deep Q-Network with Action Memory). Inertial Navigation System (INS) and Global Positioning System (GPS) are used for collecting location information and for controlling the USV with DDQN-AM algorithm. Conventional probability-based filters such as Extended Kalman Filter (EKF) and Unscented

This paper proposes a generalized robust predictive control approach based on 3rd order S-PARAFAC Volterra Model. The main idea is to use the predictive control law based on the latter model with taking into account the parameter and operation uncertainties resulting from the measurement noise and the robust identification technique named Unknown But Bounded Error (UBBE). One of the advantages is the

Learning from imbalanced data set is relatively new challenge for breast cancer diagnosis, where the diseases cases are often quite rare relative to normal population. Although traditional algorithms are all accuracy-oriented which result biased towards the majority class. The combinations of sampling methods with ensemble classifiers have shown certainly good performance. In this paper, a hybrid of

High speed and cost effective computing power appoint the possibility of modelling the real world control and signal processing problems with the usage of fractional order calculus tools. This study presents a systematic procedure for a hardware implementation of a fractional controller based on fractional calculus operators using the Grünwald-Letnikov operator, on the Field Programmable Gate Array

In this study, a multi-sensor data fusion system using a load cell and vision sensor was considered in the development of a flatfish classifier for systematic fish management in aquaculture. In the single-sensor measurement method, each sensor has disadvantages. A load cell shows high performance in the measurement of adult fish, but the measurement of fry is affected significantly due to water weight

This article introduces a novel control strategy for the uncertain eye-to-hand system, which is considered to work with unknown model of constraint surface and uncalibrated camera model. Besides, the uncertain dynamics and kinematics are also included in the system. In order to be closer to the real robot system, we also consider it with dead-zone inputs situation. So the parameter intervals and slopes

This paper considers the online identification problem of uncertain systems. Based on parallel and series-parallel configurations with feedback and by using Lyapunov arguments, a unified identification algorithm is introduced to ensure the boundedness of all associated errors and convergence of the state estimation error to an arbitrary neighborhood of the origin. The main peculiarity of the proposed

The simultaneous localization and mapping (SLAM) is a significant topic in intelligent robot. In this paper, an improved adaptive unscented FastSLAM with genetic resampling is proposed. Specifically, the adaptive unscented Kalman filter (IAUKF) algorithm is improved as importance sampling of particle filter, where the adaptive factor is used to improve the tracking ability of system and the Huber cost

One of the main objectives of a peer-to-peer energy market is to efficiently manage distributed energy resources while creating additional financial benefits for the participants. Cooperative game theory offers such a framework, and the Shapley value, a cooperative game payoff allocation based on the participants’ marginal contributions made to the local energy coalition, is shown to be fair and efficient

A systematic control design strategy of the trajectory tracking controller is proposed for a class of chained nonholonomic systems with full-state constraints. The barrier Lyapunov function (BLF) with finite-time convergence, the technique of relay switching and the integral backstepping are applied to the development of the controller. The designed control law guarantees that the reference trajectory

This paper proposes an observer-based fuzzy controller for strict-feedback nonlinear systems. A fuzzy state observer is designed to estimate unmeasurable system states via a fuzzy logic system to approximate the unknown nonlinear functions of the system. A tangent prescribed performance function is utilized to gather the tracking error in a small neighborhood of the origin. The control input is designed

This paper investigates the stability of power systems with load frequency control considering time delays (constant and time-varying delays). A new criterion for ensuring the stability of the system is proposed on the basis of Lyapunov stability theory and a further strengthened inequality. Finally, taking a single-area load frequency control scheme with the proportional-integral controller as an

Predicting and accurately classifying intentions for human hand gestures can be used not only for active prosthetic hands, rehabilitation robots and entertainment robots but also for artificial intelligence robots in general. In this paper, first of all, source data of three hand gestures of grasping and three hand gestures of sign language are acquired by using the armband combined with eight sEMG

The paper proposes the method to deal with control problems of unmodeled components of the four-wheeled Omni-directional mobile robot. It is commonly challenging to design a model-based control scheme to achieve smooth movement in the tracking process due to the unknown elements in the mathematical model of the robot or external disturbances. Our main contribution focuses on designing an adaptive controller

This paper studies the output-based security control of networked control systems under resilient event-triggered mechanism (RETM) and periodic denial-of-service (DoS) attacks. Firstly, using attack period and sleeping interval of jammer, an output-based resilient event-triggered mechanism is introduced, which can save system resources despite DoS attacks. Secondly, a switched system model is built

This paper is devoted to the prescribed performance control for a class of flexible-joint robotic manipulators driven by DC motors. Remarkably, certain transient performances are given aforehand which are jointly considered with some steady ones and hence result into the incapability of traditional control methods on this topic. Moreover, more serious uncertainties are allowed than those of the related

Distributed control is the most popular control strategy for controlling numerous slave devices. However, the performance of slave devices is hard to improve because the control algorithm is handled by the commercial slave devices. Therefore, this paper proposes a hybrid control structure that follows the concept of centralized control strategy and handles part of the control loop on the master computer

In this paper, the optimal control of a continuous type bioreactor with multi-input-multi-output signals is presented for the two active phases: growth and stationary. The underlying criterion to be minimized generalizes the classic quadratic forms to address some crucial objectives in controlling the bioreactor. In particular, the protection of actuators against fast switching in the controller output

This study presents a fixed-time convergent algorithm to achieve distributed least square (DLS) solutions of networked linear equations. Each agent in the network only knows a subset of the equations and can only exchange messages with its nearest neighbors. Unlike finite-time counterparts, the settling time of the fixed-time distributed algorithm does not depend upon the initial states, and can be

A class of linear systems described by rational transfer functions with interval parameters and fixed time-delay values is considered in this study. The ranges of variation of the interval parameters depends on the total range of perturbations. A sufficient frequency criterion for robust modality is formulated. This criterion is determined by the inclusion of all the roots of a system characteristic

This study uses an output feedback disturbance observer-based proportional derivative (PD) controller with variable damping ratios for a class of single-input, single-output nonlinear systems in the presence of unknown disturbances. The proposed sliding mode state and disturbance observer, in which the switching term of the output estimation error is employed to counteract the effect of external disturbance

In this study, two different control logics have been designed for the position control of a robot with five degrees of freedom (DOFs). First, a sliding mode control with a sliding perturbation observer (SMCSPO) has been proposed. The SMCSPO is robust against perturbation, which is the sum of nonlinearities, parametric uncertainties, and external disturbances. To implement the SMCSPO, linear parameters

The master-slave synchronization (MSS) issue of chaotic Lur’e systems (LSs) with time-varying delay (TVD) is explored in this work by means of feedback control. After taking the nonlinear function into full consideration, a creative Lyapunov-Krasovskii functional (LKF) is attained. Then novel criteria which ensure the synchronization of the studied systems are obtained with the aid of the improved

In this paper, we investigated a pyramidal hopper with extended discharge at the exit to make a bag of particles to a designated weight. Any feedback control strategy cannot be applied because the exit gate does not have any encoders to check its size, the gate size cannot be adjusted precisely during the closing motion, and the speed of the closing gate is relatively slow compared to the discharge

Effectiveness of online bearing status monitoring (OBSM) depends deeply on the online data processing ability and the sensitivity of data features used to recognize the mechanical-system dynamic response change. Focusing on these, we present a novel method of OBSM based on singular spectrum analysis (SSA) and adaptive neuro-fuzzy inference system (ANFIS) with the highlights as follows. A sensitive

This paper is concerned with the controller synthesis issue for enforced positive switched linear systems via output feedback. First, the stabilization problem is studied with output feedback under average dwell time switching signal, and the controllers we proposed guarantee stability and positivity of the closed-loop systems. Second, the output feedback stabilization issue is investigated by introducing

Based on the second order differential equation, this paper investigates finite-time stability, finite-time convergence criterions and estimates of convergence time. The main contributions of this paper lie in the fact that two new finite-time convergence criterions are proposed through the property of the second order differential equation and their upper bound of the convergence time is derived.

In this paper, an efficient and probabilistic complete planning algorithm called Composite-space RRT is presented to address motion planning with soft constraints for spherical wrist manipulators. Firstly, we propose a novel configuration space termed Composite Configuration Space (“Composite Space” for short), which is composed of the joint space and the task space. Then, collision-free paths are

Most existing localization schemes necessitate a priori statistical characteristic of measurement noise, which may be unrealistic in practical applications. This paper investigates the variational Bayesian adaptive unscented Kalman filtering (VBAUKF) for received signal strength indication (RSSI) based indoor localization under inaccurate process and measurement noise covariance matrices. First, an

This paper studies a distributed cubature Kalman filter algorithm for the dynamic state estimation of a large-scale power system, which is interconnected and consists of some sub-areas. Using the hybrid measurements, each subsystem runs the proposed algorithm independently and in parallel to forecast and estimate its local state, which helps in reducing the whole execution time and the communication

Achieving accurate and reliable tracking control for nonlinear systems with uncertainties and disturbances is one of the most challenging problems in nonlinear control. In this paper, we propose an adaptive nonsingular integral-type second order terminal sliding mode tracking control for nonlinear systems with uncertainties. First an integral type sliding manifold is defined to ensure finite time tracking

This work focuses on the fixed-time event-triggered formation control problem for multi-AUV systems with external uncertainties, which can significantly reduce energy consumption and the frequency of the controller updates. At the same time, the convergence speed of the system is improved. To tackle with the problem of explosion of differentiation terms in backstepping method, a command filter is introduced

In this paper, we propose a novel computed voltage based control law for an omnidirectional wheeled mobile robot equipped with four mecanum wheels. First, the dynamical model for the mechanical part is originally introduced by means of the Euler-Lagrange formulation. The motion constraints are added to the dynamic model using the Lagrange multipliers. Then, the dynamic model is completed by incorporating

This paper presents the fuzzy PID filter (FPIDF) controller for the automatic voltage regulator (AVR). This controller is used to maintain the generating unit output voltage within allowable limit, and improve the weakness of the conventional controller’s fast response under any sudden changes in operating conditions or any disturbance that affect the voltage stability. Firstly, the PID low pass filter

This study proposes an underwater walking mechanism for an underwater amphibious robot that is propelled by a degree of freedom flapping foil system. To implement stable walking in water, we proposed a distinctive hinged multi-modal paddle and developed an underwater amphibious robot. For the proposed paddle, forward walking model is proposed regarding both the ground contact and hydrodynamic forces

This paper addresses the problem of robust actuator fault reconstruction for Takagi-Sugeno (T-S) fuzzy systems subjects to actuator faults, unknown inputs and time-varying delays via a Fuzzy Synthesized Learning and Luenberger Observer (FSL2O). Through a coordinate transformation, the original T-S fuzzy system is decomposed into two subsystems: subsystem-1 effected by actuator faults and subsystem-2

An event-triggered distributed model predictive control (DMPC) approach for a type of dynamically decoupled, independently constrained systems with a coupled performance objective, is presented. The approach employs, for each agent, a compatibility constraint (in the spirit of Dunbar and Murray) in the optimization problem. An event-triggering condition, based-on the overall stability condition of

As representative underactuated systems, tower cranes exhibit high nonlinearity and strong state coupling, which makes their controller design (analysis) challenging and of great research values. In addition, since tower cranes are widely applied in outdoor environment with inevitable external disturbances, (the state variables tend to go far away from the equilibrium point), how to ensure the control

Wind disturbance may significantly reduce the flight control performance of quadrotors when flying. In order to meet high performance flight control requirements, this paper presents a quadrotor anti-wind model (QAWM) and a flight control scheme for quadrotors. The QAWM takes the influence of aerodynamic effects on the propeller, gyroscopic effect and wind disturbance into account. The model can represent

Fiber optic gyroscope (FOG) is a new type of optical sensor used to measure the rotating angular velocity. As the core component, fiber optic coil (FOC) plays a decisive role in the FOG output precision. The manufacturing level and efficiency of FOC have been main factors restricting the application and development of high precision FOG. Precision mechanical positioning method based on the photoelectric

An adaptive actuator failure compensation scheme is proposed for attitude tracking control of spacecraft with unknown disturbances and uncertain actuator failures. A new feature of this adaptive control scheme is the adaptation of the failure pattern parameter estimates, as well as the failure signal parameter estimates, for direct adaptive actuator failure compensation. Based on an adaptive backstepping

This paper deals with a robust stability problem for uncertain Lur’e systems with time-varying delays and sector-bounded nonlinearities. An improved delay-dependent robust stability criterion is proposed via a modified Lyapunov-Krasovskii functional (LKF) approach. Firstly, a modified LKF consisting of delay-dependent matrices and double-integral items under two delay subintervals is constructed, thereby

We propose an efficient spoofing signal generation method that uses the processing results of a global positioning system (GPS) receiver for authentic GPS signals. Conventional methods of generating spoofing signals use expensive GPS simulators because the structures of the spoofing signals must be almost identical to those of the GPS signals. Simulators require GPS ephemeris at a specific time and

This paper focuses on the synchronization of reaction-diffusion complex dynamical networks with coupling delay. In order to reflect the uncertainties of the controller, the nonfragile problem is considered. Furthermore, we also take into account the dissipativity analysis problem, which contains the \(\cal{H}_{\infty}\) performance and passivity performance in a unified framework. By utilizing the

This paper develops a novel adaptive integral sliding-mode control (SMC) technique to improve the tracking performance of a wheeled inverted pendulum (WIP) system, which belongs to a class of continuous time systems with input disturbance and/or unknown parameters. The proposed algorithm is established based on an integrating between the advantage of online adaptive reinforcement learning control and

In this paper, we investigate the linear optimal estimation problems of discrete-time and continuous-time systems with multiple state delays in measurements. For discrete-time systems, we obtain the linear optimal estimation of state by direct calculation of optimal gain in terms of the solution to a retarded Riccati-like difference equation instead of a group of Riccati difference equations. For continuous-time

The event-triggered bipartite consensus problem of linear multi-agent systems with a connected structurally balanced signed graph is considered in this paper. The state observer is set to estimate the actual states of the system. In the system structure, two event-triggered mechanisms are configured for each agent. The one is placed in the output side of the agent and the other in the controller. Thus

This paper discusses a grasping, orientation, and position control of an object by two flexible arms modeled by the Timoshenko beam. By utilizing our previously proposed controller for the cooperative control, we realize to control the grasping force, orientation, and position of an object as well as to suppress the vibration of the flexible arms. In particular, the closed-loop system is formulated

For discrete systems with sensor and actuator failures, this paper proposes an observer that can estimate both sensor failures and actuator failures and designs a sliding mode predictive fault-tolerant control method based on an improved whale optimization algorithm. First, a proportional-integral observer that can observe actuator fault and sensor fault is designed to estimate the value of faults

In order to improve the control effect of the tension fluctuation, a single neuron adaptive control strategy based on quadratic performance index is proposed in this paper. The structure and the working principle of carbon fiber diagonal loom are studied which can be used for dynamic analysis and controller design. With the idea of optimal control, the parameters of the controller are adjusted by minimizing

In endoscopic endonasal transsphenoidal surgery, for the treatment of deep brain tumors, such as craniopharyngiomas, an endoscope and surgical instruments are inserted through a nasal cavity into the lesion to remove the tumor. This has recently become the preferred technique because there is less likelihood of neural damage and a low complication rate. Manually controlled rigid surgical instruments