What led to the novel ideas, some of them theoretical, presented in this paper is our highly experimental approach to nonlinear control. We actually designed and fabricated a two-link inverted pendulum, and learned about the relationships and the tradeoffs that exist in such a device. In the context of controlling an inverted pendulum, the novel ideas presented in this paper relate to i) the de...

This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...

This study investigates six degrees-of-freedom nonlinear tracking control of rigid spacecraft under external disturbances. We propose two nonlinear tracking controllers having disturbance attenuation ability, namely, a proportionalderivative (PD)-type H∞ state feedback controller and a proportional-integral-derivative (PID)-type H∞ state feedback controller. Both these controllers have positive...

This paper deals with the issue of achieving comfort in buildings with minimal energy consumption. Specifically a reinforcement learning controller is developed and simulated using the Matlab/Simulink environment. The reinforcement learning signal used is a function of the thermal comfort of the building occupants, the indoor air quality and the energy consumption. This controller is then compa...

In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID) and Fuzzy Proportional Derivative (F-P...