This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

In this paper, we consider the control of time delay system by Proportional-Integral (PI) controller. By Using the Hermite-Biehler theorem, which is applicable to quasi-polynomials, we seek the stability region of the controller and the computation of its optimum parameters. We have used the genetic algorithms to lead the complexity of the optimization problem. An application of the suggested a...

in this paper we consider the problem of delay-dependent robusth1 control for uncertain fuzzy systems with time-varying delay. the takagi–sugeno (t–s) fuzzy model is used to describe such systems. time-delay isassumed to have lower and upper bounds. based on the lyapunov-krasovskiifunctional method, a sufficient condition for the existence of a robust $h_{infty}$controller is obtained. the fuzz...

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory barrier functions, that provides formal safety guarantees delay-free systems, is extended to systems with state delay. notion functionals introduced, attain by enforcing forward invariance safe sets defined in infinite dimensional space. proposed able handle multiple delays and distribut...