In this paper, the use of a proposed recurrent neural network control system to control a four-legged walking robot is investigated. The control system consists of a neural controller, standard PD controller and the walking robot. The robot is a planar four-legged walking robot. The proposed Neural Network (NN) is employed as an inverse controller of the robot. The NN has three layers, which ar...

In this paper we propose a Self-Organizing Fuzzy Proportional Derivative (SOF-PD) tracking controller for robot manipulators, which exploits the simplicity and robustness of the simple PD control and enhances its benefits. This proposed controller has a gain-scheduling structure, in which, based on the position error, a SOF system performs the gains tuning of a simple PD controller in the feedb...

In the traditional mechatronic systems, the controller designs are usually separated from the mechanical structure designs. Consequently, the controller algorithms become more and more complex, i.e., from the PD controller, to the computed-torque controller, and to all sorts of the adaptive controller. These complex control algorithms encounter many difficulties in implementation of the control...

This paper introduces a new class of simple nonlinear PID controllers and provides a formal treatment of their stability analysis. These controllers are comprised of a sector-bounded nonlinear gain in cascade with a linear fixed-gain P, PD, PI, or PID controller. Three simple nonlinear gains are proposed: the sigmoidal function, the hyperbolic function, and the piecewise]linear function. The sy...

this paper presents a detailed small-signal and transient analysis of a full bridge pwm dc-dc converter designed for high voltage, high power applications using an average model. the derived model is implemented in a typical system and used to produce the small-signal and transient characteristics of the converter. results obtained in the analysis of the high voltage and high power design examp...

In this paper a new design method of a self-tuning PID controller is proposed. The PID controller is designed based on generalized predictive control (GPC) including a future reference trajectory. The PID controller given in this paper is based on GPC and, is I-PD type controller. It is shown that the design parameter adjusting the future reference trajectory changes only the integral time of t...

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...

This paper deals with path tracking control of tracked vehicle on extremely soft cohesive soil. The dynamics of tracked vehicle is very complex and nonlinear because of the slippage of vehicle and the soil shearing. For the purpose of control of tracked vehicle we adopted simplified approaches. The vehicle is modeled as single-body vehicle. Two kinds of PD (Proportional-Differential) controller...

The purpose of shaking tables is to replicate the desired motion to specimen, which needs to ensure not only the synchronization precision of two tables, but the tracking precision for the desired signal. Due to the nonlinearity of system and eccentric of load masses, both tracking and synchronous accuracy are poor. To solve this problem, this article proposes a novel hybrid controller combined...