Search Results for author:
Found 14 papers, 0 papers with code
Concurrent Learning Based Tracking Control of Nonlinear Systems using Gaussian Process
This paper demonstrates the applicability of the combination of concurrent learning as a tool for parameter estimation and non-parametric Gaussian Process for online disturbance learning.
Distributed nonlinear model predictive control of an autonomous tractor-trailer system
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a fast distributed nonlinear model predictive control algorithm in combination with nonlinear moving horizon estimation for the state and parameter estimation in which constraints on the inputs and the states can be incorporated.
Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor
More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase.
Towards Agrobots: Trajectory Control of an Autonomous Tractor Using Type-2 Fuzzy Logic Controllers
Autonomous navigation of an agricultural vehicle involves the control of different dynamic subsystems, such as the yaw angle dynamics and the longitudinal speed dynamics.
Learning in Centralized Nonlinear Model Predictive Control: Application to an Autonomous Tractor-Trailer System
One of the most critical tasks in tractor operation is the accurate steering during field operations, e. g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop yet.
Identification of Nonlinear Dynamic Systems Using Type-2 Fuzzy Neural Networks -- A Novel Learning Algorithm and a Comparative Study
Moreover, the proposed learning algorithm has a closed form, and it is easier to implement than the other existing methods.
A Self-Learning Disturbance Observer for Nonlinear Systems in Feedback-Error Learning Scheme
This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning scheme and sliding mode control (SMC) theory.
Multi-Objective $H_{\infty}$ Control for String Stability of Cooperative Adaptive Cruise Control Systems
Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps.
Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle
The experimental results for a time-based trajectory show that the NMHE-NMPC framework with the proposed real-time iteration scheme gives better trajectory tracking performance than the ISL-LMPC framework and the required computation time is feasible for real-time applications.
Adaptive and Efficient Model Predictive Control for Booster Reentry
Engineering notes in Journal of Guidance, Control, and Dynamics does not have an abstract.
Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers
The FLC based on BNDO (FLC-BNDO) demonstrates robust control performance only against mismatched time-invariant uncertainties while the FLC based on SLDO (FLC-SLDO) demonstrates robust control performance against mismatched time-invariant and -varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties.
High precision control and deep learning-based corn stand counting algorithms for agricultural robot
The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements.
Sliding Mode Control for Systems with Mismatched Time-Varying Uncertainties via a Self-Learning Disturbance Observer
In this framework, the NFS estimates the mismatched disturbances and becomes the leading disturbance estimator while the former feeds the learning error to the NFS to learn system behavior.
Sliding Mode Learning Control of Uncertain Nonlinear Systems with Lyapunov Stability Analysis
To address this shortcoming, a novel control structure with a novel sliding surface is proposed in this paper and the stability of the overall system is proven for nth-order uncertain nonlinear systems.
