Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

Fuzzy LQR Controller for Heading Control of an Unmanned Surface Vessel

Recently the applications of unmanned systems are steadily increasing. Unmanned Surface Vessels (USV) can be used for military and rescue purposes. This paper designs a Fuzzy-LQR controller for Heading control of the USV system. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into fuzzy control. This Fuzzy-LQR controller is used t...

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Model Free Adaptive Control

Adaptive Control of Separated Flow

Adaptive closed-loop control is used to optimize the lift-to-drag ratio of post-stall separated flow over a NACA 0025 airfoil using multiple amplitudemodulated (AM) or burst-modulated (BM), zero-net-mass-flux (ZNMF) actuators that cover the central 33% span of the airfoil. A simplex optimization approach uses the lift and drag measured by a strain-gauge balance for feedback and searches for the...

Adaptive Simplified Model Predictive Control with Tuning Considerations

Model predictive controller is widely used in industrial plants. Uncertainty is one of the critical issues in real systems. In this paper, the direct adaptive Simplified Model Predictive Control (SMPC) is proposed for unknown or time varying plants with uncertainties. By estimating the plant step response in each sample, the controller is designed and the controller coefficients are directly ca...