In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

The paper presents an application of fuzzy logic controller (FLC) with hierarchically structured rule base for a two-link direct drive Celestron telescope. The hierarchical fuzzy logic controller (HFLC) is implemented, as nonlinear blocks used in a control system, for supervision of PID controller for position tracking of the telescope driven by electric motors. The HFLC is composed of two FLC ...

In this paper, a multi agent controller for meeting different criteria, based on neuro-fuzzy controller is presented. The proposed controller is motivated by the affective and emotional faculties in human begins, which constantly evaluate the current states with respect to the achievement of the desired goals. For meeting different criteria, the controller consists of several critic agents that...

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

a new fault tolerant controller (ftc) has been presented in this research by integrating a fault detection and diagnosis (fdd) mechanism in a nonlinear model predictive controller framework. the proposed fdd utilizes a multi-sensor data fusion (msdf) methodology to enhance its reliability and estimation accuracy. an augmented state-vector model is developed to incorporate the occurred sensor fa...

This paper presents a new population based parameter free optimization algorithm as teaching learning based optimization (TLBO) and its application to automatic load frequency control (ALFC) of multi-source power system having thermal, hydro and gas power plants. The proposed method is based on the effect of the influence of teacher on the output of learners and the learners can enhance their k...

BLDC motor is the most widely used in industrial world, especially electric vehicles. With this increasing demand, a variety of research topics emerged motors. One popular on speed control to maintain for its application, such as intelligent cruise technology cars and conveyors line assembly. However, from several existing studies, Motor controller still uses single model. The controller's outp...

This paper presents an innovative approach to self-adaptation of the structure of a neuro-fuzzy controller in real time. Without any off-line pretraining, the algorithm achieves very high control performance through the iteration of a three-stage algorithm. In the first stage, coarse tuning of the neuro-fuzzy rules (both rule consequents and membership functions of the premises) is accomplished...

This paper presents the system identification by physical’s law method and designs the controller for the Azimuth Angle Control of the Platform of the Multi-Launcher Rocket System (MLRS) by Root Locus technique. The plant mathematical model was approximated using MATLAB for simulation and analyze the system. The controller proposes the implementation of PID Controller using Programmable Logic C...