This paper presents the effects of fixture dynamics on the control of a variable-reluctance spherical motor (VRSM). The cascaded VRSM dynamics has the appropriate structure for the so-called back-stepping controller design method. Implementation of the back-stepping controller, however, requires the computation of the exact motor dynamics at each sampling time. This computational burden has an ...

Abstract: In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stabl...

Biogeography-based optimization (BBO) is an evolutionary algorithm (EA) based upon the models of biogeography, which describe the relationship between habitat suitability and the migration of species across habitats. In this work, we apply BBO to the problem of tuning the fuzzy tracking controller of mobile robots. This is an extension of previous work, in which we used BBO to tune a proportion...

In this paper, a pseudo PID (PPID) controller, including only one gain to be tuned, is proposed. The idea is to connect the I+PD control design with the Fertik and Ziegler-Nichols tuning rules in order to obtain not only a simple and efficient control algorithm but also to decrease the operator intervention time with respect to the calibration task and to obtain desired closed-loop dynamic. Thr...

The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the ac...

This paper presents neural network (NN) control of planar four-legged walking robot. The control system consists of a neural controller, standard PD controller and walking robot. Proposed NN is employed as an inverse controller of the robot. In addition to feedforward connections from the input layer to the hidden layer and from the hidden layer to the output layer, there is also feedback conne...

This article proposes a coordinate-free controller for nonholonomic vehicle to circumnavigate fully- actuated moving target by using range-only measurements. If the range rate is available, our proportional derivative (PD) like has simple structure as standard PD controller, except design of an additive constant bias and saturation function in error feedback. We show that if stationary, asympto...

The stability control of nominal frequency and terminal voltage in an interconnected power system (IPS) is always a challenging task for researchers. load variation or any disturbance affects the active reactive demands, which badly influence normal working IPS. In order to maintain at rated values, controllers are installed generating stations keep these parameters within prescribed limits by ...

The goal of our research is to develop a practicable vehicle for the lower limbs disabled along with improving health, which can be used in their daily life. We developed a vehicle based on a wheelchair, we call it as cycling chair. The cycling chair has two relatively big front wheels linked to the pedals with a mechanical chain to propel it, and a steering wheel at the rear part is controlled...

In this paper, Neuro-Fuzzy based Fuzzy Subtractive Clustering Method (FSCM) and Self Tuning Fuzzy PD-like Controller (STFPDC) were used to solve non-linearity and trajectory problems of pitch AND yaw angles of Twin Rotor MIMO system (TRMS). The control objective is to make the beams of TRMS reach a desired position quickly and accurately. The proposed method could achieve control objectives wit...