Curved Path Following Controller for 4W Skid-Steering Mobile Robots Using Backstepping

Article Automation & Control Systems

A prescribed performance PID control of robotic cars with only posture measurements considering path curvature

Khoshnam Shojaei

Summary: This study proposes a PID controller based on prescribed performance adaptive neural observer for robotic cars, with the consideration of trajectory curvature compensation, which ensures stability and advantages of the controller.

EUROPEAN JOURNAL OF CONTROL (2022)

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Article Computer Science, Artificial Intelligence

Fuzzy Optimal Tracking Control of Hypersonic Flight Vehicles via Single-Network Adaptive Critic Design

Xiangwei Bu et al.

Summary: This article discusses the design of nearly optimal tracking controllers for hypersonic flight vehicles, utilizing concise fuzzy approximations and single-network adaptive critic design. Simulation results verify the superiority of this approach.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2022)

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Article Engineering, Aerospace

Nonfragile Quantitative Prescribed Performance Control of Waverider Vehicles With Actuator Saturation

Xiangwei Bu et al.

Summary: This article proposes a new nonfragile prescribed performance control method for waverider vehicles, which guarantees quantitative prescribed performance in the presence of actuator saturation.

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS (2022)

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Article Computer Science, Artificial Intelligence

A Simplified Finite-Time Fuzzy Neural Controller With Prescribed Performance Applied to Waverider Aircraft

Xiangwei Bu et al.

Summary: This article introduces a finite-time prescribed performance controller within the concise fuzzy-neural framework for a waverider aircraft. New finite-time performance functions are developed to ensure finite-time convergence of tracking errors with small overshoots. The equivalent transformation approach and a single-learning-parameter-based regulation scheme are used to reduce control complexity and computational costs.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2022)

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Article Computer Science, Artificial Intelligence

Pattern-based autonomous smooth switching control for constrained flexible joint manipulator

Haotian Shi et al.

Summary: The paper proposes a pattern-based control scheme for flexible joint manipulators with unknown dynamics and position constraints. The scheme consists of two phases: online controller adjustment and task pattern identification, and offline pattern recognition and controller calling. The proposed scheme has advantages including accurate pattern recognition ability, small controller chattering, and highly autonomous control.

NEUROCOMPUTING (2022)

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Article Computer Science, Artificial Intelligence

Filter-Based Event-Triggered Adaptive Fuzzy Control for Discrete-Time MIMO Nonlinear Systems With Unknown Control Gains

Longwang Huang et al.

Summary: In this article, an event-triggered output feedback adaptive fuzzy control scheme is developed for a class of uncertain discrete-time multiinput-multioutput (MIMO) nonlinear systems with immeasurable states and unknown control gains. Through the design of fuzzy filters and state observers, the proposed scheme achieves estimation of immeasurable states and improves the tracking performance of the system.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2022)

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Article Automation & Control Systems

Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots

Zongyu Zuo et al.

Summary: This article proposes a coordinated path-following control scheme for multiple nonholonomic wheeled mobile robots, which removes temporal constraint and improves coordination robustness by introducing new error variables to describe a chasing-and-waiting strategy for injective paths and circular paths.

IEEE TRANSACTIONS ON CYBERNETICS (2022)

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Article Automation & Control Systems

Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot

Yuanlong Xie et al.

Summary: By using a new coupled fractional-order sliding mode control and obstacle avoidance scheme, more control flexibilities and higher accuracy can be achieved; Novel fractional-order sliding surfaces are proposed to handle nonlinear interconnected states and achieve non-oscillating avoidance in dynamic environments.

ISA TRANSACTIONS (2021)

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Article Robotics

Distributed Tube-Based Nonlinear MPC for Motion Control of Skid-Steer Robots With Terra-Mechanical Constraints

Alvaro J. Prado et al.

Summary: The study introduces an integrated control architecture based on distributed tube-based nonlinear Model Predictive Control and adaptive model-based control for field robots, aiming to enhance navigation and motion control by reducing tire slippage and sideward sliding. Experimentation on an industrial loader under off-road conditions showed that the proposed approach significantly decreased tire slip and sideways sliding, as well as reducing lateral and longitudinal trajectory tracking errors.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Automation & Control Systems

Path Following of Wheeled Mobile Robots Using Online-Optimization-Based Guidance Vector Field

Jian Chen et al.

Summary: This article investigates a path-following problem for a wheeled mobile robot with nonholonomic constraints. An online optimization procedure is used to estimate path error, while a nonlinear controller is developed to track a defined guidance vector field (GVF). Experiments validate the effectiveness of the proposed control design.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

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Article Automation & Control Systems