We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the manipulator. The topological structure of this random forest-based controller is determined automatically based on the training data consisting visual features ...

This paper presents a novel improved fuzzy particle swarm optimization (IFPSO) algorithm to the intelligent identification and control of a dynamic system. The proposed algorithm estimates optimally the parameters of system and controller by minimizing the mean of squared errors. The particle swarm optimization is enhanced intelligently by using a fuzzy inertia weight to rationally balance the ...

In this paper, a novel method based on a combination of Extended Kalman Filter (EKF) with Self-adaptive Differential Evolution (SaDE) algorithm to estimate rotor position, speed and machine states for a Permanent Magnet Synchronous Motor (PMSM) is proposed. In the proposed method, as a first step SaDE algorithm is used to tune the noise covariance matrices of state noise and measurement noise i...

This paper considers the conversion problem from unstructured linear time-invariant (LTI) controllers to observer-structured LTI , whose structure is similar but not exactly same as so-called “Luenberger observer–based controllers,” for parameter-varying (LPV) plant systems. In contrast Luenberger controllers, can be defined and constructed even if systems are given LPV problem, state-space mat...

Ant Colony Optimization is a population-based meta-heuristic that exploits a form of past performance memory that is inspired by the foraging behavior of real ants. The behavior of the Ant Colony Optimization algorithm is highly dependent on the values defined for its parameters. Adaptation and parameter control are recurring themes in the field of bio-inspired optimization algorithms. The pres...

Based on parameter self-tuning fuzzy PID controller, a fuzzy inference method is utilized to realize automatic regulating PID parameter, and the application of the controller in a system is studied with MATLAB in this paper. The combination of PID controller system and fuzzy controller system combines the convenience of PID control together with the flexibility of fuzzy control, and takes advan...

In this paper, we consider the robustification and parametrization of an invariance switching controller with respect to a scalar variable (parameter) that affects the system dynamics. By robustification, we mean searching for a switching controller that guarantees invariance of a set, under a large enough range of the parameter values. In case such a robust controller does not exist, we do par...

In this article, the optimal attitude consensus control problem of distributed spacecraft formation through local information exchange is solved in presence parameter uncertainty and disturbance. The dynamics model rigid established based on unit quaternion under an undirected graph. Then, scheme Lyapunov functions adopted for formation. approach to construct appropriate function multiple devel...

omotopy analysis method (HAM) is a promising method for handling func-tional equations. Recent publications proved the eectiveness of HAM in solvingwide variety of problems in dierent elds. HAM has a unique property whichmakes it superior to other analytic methods, this property is its ability to con-trol the convergence region of the solution series. In this work, we claried theadvantages and ...