Controller Design of Multiinput Multioutput Time-Delay Large-Scale System

The paper presents a novel feedback linearization controller of nonlinear multiinput multioutput time-delay large-scale systems to obtain both the tracking and almost disturbance decoupling (ADD) performances. The significant contribution of this paper is to build up a control law such that the overall closed-loop system is stable for given initial condition and bounded tracking trajectory with the input-to-state-stability characteristic and almost disturbance decoupling performance. We have simulated the two-inverted-pendulum system coupled by a spring for networked control systems which has been used as a test bed for the study of decentralized control of large-scale systems

Kinematics, dynamics and control design of 4WIS4WID mobile robots

Kinematic and dynamic modelling and corresponding control design of a four-wheel-independent steering and four-wheel-independent driving (4WIS4WID) mobile robot are presented in this study. Different from the differential or car-like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non-linear kinematic control and dynamic sliding-mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations

FPGA-Based Fuzzy PK Controller and Image Processing System for Small-Sized Humanoid Robot

Abstract-This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control syste

A Novel Nonlinear Control Law with Trajectory Tracking Capability for Nonholonomic Mobile Robots: Closed-Form Solution Design

A novel nonlinear robust trajectory tracking control law for nonholonomic mobile robot is presented in this paper. This approach can be applied to generate trajectory tracking control commands on nonholonomic mobile robot movement. The design objective is to specify one nonlinear robust control law that satisfies the H2 performance, for the nonlinear trajectory tracking control of nonholonomic mobile robot. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory-tracking problem. Fortunately, because of the skew symmetric property of the trajectory tracking system of the nonholonomic mobile robot and adequate choice of state variable transformation, the H2 trajectory-tracking problems can be reduced to solving one nonlinear time varying Riccati-like equations. Furthermore, one closed-form solution to this nonlinear time varying Riccati-like equation can be obtained with very simple forms for the preceding control design. Finally, there are two practical testing conditions: circular and square like reference trajectories are used for performance verifications

New Nonlinear Controller for a Class of Chaotic Systems Based on Adaptive Backstepping Fuzzy-Immune Control

An adaptive backstepping fuzzy-immune controller for a class of chaotic systems is proposed. An adaptive backstepping fuzzy method and adaptive laws are used to approximate nonlinear functions and the unknown upper bounds of uncertainty, respectively. The proposed adaptive backstepping fuzzy-immune controller guarantees the stability of a class of chaotic systems while maintaining good tracking performance. The fuzzy-immune algorithm is used for mathematical calculations. The intelligence algorithm consists of the adaptive backstepping fuzzy method and a novel fuzzy-immune scheme which generates optimal parameters for the control schemes. Finally, two simulation examples are given to illustrate the effectiveness of the proposed approach