Dealing with a LQR controller surface subject to power and torque constraints, is an issue of nonlinear problem that is difficult to implement. This paper employs a fuzzy controller surface to replace the LQR surface subject to power and torque constraints by using class stacking, least square and Sugenotype fuzzy inference mode. Through this type of transformation, called “Optimal fuzzy contro...

The problem of constructing a nonlinear controller for a biped robot optimal with respect to a minimal energy performance criteria is considered. The solution of this diicult, highly nonlinear problem is facilitated by the conjunction of several new developments in numerical optimal control and constrained recursive dynamic models for robotic systems. A 5-link biped model is used with the full ...

A nonlinear optimal controller with a fuzzy gain scheduler has been designed and applied to a Line-Of-Sight (LOS) stabilization system. Use of Linear Quadratic Regulator (LQR) theory is an optimal and simple manner of solving many control engineering problems. However, this method cannot be utilized directly for multigimbal LOS systems since they are nonlinear in nature. To adapt LQ controllers...

This paper presents an on-line nonlinear trajectory tracking control algorithm for differential wheeled mobile robot using optimal back-stepping technique based particle swarm optimization while following a pre-defined continuous path. The aim of the proposed feedback nonlinear kinematic controller is to find the optimal velocity control action for the real mobile robot. The particle swarm opti...

the problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. the slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...

surge is one of the two destructive factors in compressors. surge is the stream instability phenomenon in compressor that imposes severe damages to the compressors. nowadays, suppressingsurge phenomenon is one of the most important issues in oil and gas industries, especially when flow reduction or gas reflux is considered. according to moore-greitzer compressor model, this paper designs an act...

The problem of multi-objective robust feedback linearization controller design of nonlinear system with parametric uncertainties is solved in this paper. The main objective of this paper is to propose an optimal technique to design a robust feedback linearization controller with multi-objective genetic algorithm. A nonlinear system is considered as a benchmark and feedback linearization control...

While the current robust nonlinear control toolbox includes a number of methods for systems aane in de-terministic bounded disturbances, the problem when the disturbance is unbounded stochastic noise has hardly been considered. We present a control design which achieves global asymptotic (Lyapunov) stability in probability for a class of strict-feedback nonlinear continuous-time systems driven ...

 In almost all cases, the goal of the design of automatic control systems is to obtain the parameters of the controllers, which are described by differential equations. Takagi-Sugeno (T-S) fuzzy models can perfectly represent the nonlinear system. In general, the controller is artificially built and it is possible to update its initial conditions. In the design of optimal quadratic regulators,...