In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which must be appropriately handled by the controller to achieve satisfactory tracking results. We derive a mathematical model of the interconnected multi-body system using Kane’s equa...

The goal of this chapter is to enable a nonholonomic mobile robot to track a specified trajectory with minimum tracking error. Towards that end, an adaptive P controller is designed whose gain parameters are tuned by using two feed-forward neural networks. Back-propagation algorithm is chosen for online learning process and posture-tracking errors are considered as error values for adjusting we...

This paper addresses the global output tracking problem for nonlinear systems with singular points. For nonlinear systems which satisfy a suitable observability condition, we identify a class of smooth output trajectories which the system can track using continuous open loop controls. This class includes all output trajectories generated by smooth state state feedback. We then study the problem...

Hardware-in-the-loop transmission testing requires precise speed and torque tracking of the actuators that emulate the engine and vehicle dynamics. System-inversion-based feedforward controllers offer a solution, but they do not work for non-minimum-phase systems. Preview filters can provide stable approximate inversion of non-minimum-phase systems, but they require future values, which are not...

This paper addresses the global output tracking problem for nonlinear systems with singular points. For nonlinear systems which satisfy a suitable observability condition, the authors identify a class of smooth output trajectories which the system can track using continuous open-loop controls. This class includes all output trajectories generated by smooth state feedback. They then study the pr...

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based closed-loop control, and robust motio...

Global Navigation Satellite System (GNSS) is the standard generic term for satellite navigation systems that provide autonomous geospatial positioning with global coverage. As of 2007, the United States NAVSTAR Global Positioning System (GPS) is the only fully operational GNSS. Based on bandwidth optimization criterion, the GPS receiver is proposed for solving the carrier/code phase tracking pr...

UAVs formation is a complex nonlinear system. Although quadrotor has many advantages, its dynamics model nonlinear, coupled, and under driven. For model-based controller design, physical constraints, uncertainties external disturbances significantly deteriorate control performance. Therefore, multi-constraints MPC strategy based on error proposed for the formation. Firstly, 3D established by us...