In this paper, modeling and nonlinear controller design for an omni-directional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the Trajectory Linearization Control (TLC) method. Some simulation results of the controller are presented.

In general, i t is not easy to design a decentralized controller for nonlinear interconnected systems. In this study, the stability of nonlinear interconnected systems is studied via fuzzy decentralized control method. First, the nonlinear interconnected systems are represented by an equivalent Takagi-Sugeno type fuzzy model. If the state variables are unavailable, a fuzzy observer-based state ...

An optimal Fractional Order PI λ D μ (FOPID) controller is designed for a full vehicle nonlinear active suspension system. The optimal values of FOPID controller parameters for minimizing the cost function are tuned using an Evolutionary Algorithm (EA), which offers an optimal solution to a multidimensional rough objective function. The fitness parameters of FOPID controller (proportional const...

The work proposed in this paper aim to design tow controllers for attitude stabilization of a Quadrotor UAV. The first is a classical PID controller; the second is a nonlinear state feedback controller which designed using multiple model approach. We start with the design of a Takagi-Sugeno (T-S) model for Quadrotor modelling, and then we use Linear Matrix Inequality (LMI), and PDC (Parallel Di...

This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...

A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...

This paper presents the development of a nonlinear quadrotor simulation framework together with a nonlinear controller. The quadrotor stabilization and navigation problems are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The o...

This paper proposes a direct adaptive control strategy for a class of nonlinear systems for which the dynamics is incompletely known and time varying. The nonlinear controller design is based on the input-output linearizing technique. The only information required about the process is the measurements of the state variables and its relative degree. Unknown controller functions are approximated ...

This paper presents L 2 gain controller synthesis for the fuzzy T-S model (Takagi-Sugeno). Both the state-feedback controller and the output feedback controller are discussed. They are in the format of PDC (parallel distributed compensation) controller which is essentially a nonlinear controller. Based on the bounded-real lemma, the synthesis procedure is expressed in LMI conditions which can b...

Abstract—This paper presents a new method to design nonlinear feedback linearization controller for PEMFCs (Polymer Electrolyte Membrane Fuel Cells). A nonlinear controller is designed based on nonlinear model to prolong the stack life of PEMFCs. Since it is known that large deviations between hydrogen and oxygen partial pressures can cause severe membrane damage in the fuel cell, feedback line...