This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance ru...
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This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.
The main focus of this research is on improving the performance of dynamic systems with actuator non-linearities and time-varying disturbances. To this end, using the concept of finite-time stability, a novel observer...
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Collaboration of agents in a natural swarm enables the accomplishment of tasks that would be difficult or impossible for a single agent to complete alone. For example, a swarm of autonomous Unmanned Aerial Vehicles (U...
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Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods...
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Erasable itemset mining is one of the most well-known methods in data mining for optimizing limited materials. After mining erasable itemsets, the manager can rearrange the production plan effectively. However, in rea...
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This paper introduces a new data-driven MPC structure based on two offline and online parts to achieve the robust and constrained performance in an optimal scheme. In the first step, according to the model matching co...
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An important aspect related to the effects of agricultural activities on the environment is represented by the nutrient loss in water and air (specifically nitrogen). The interactions between catchments hydrological p...
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In the CNC machine tool industry, cutting fluid is a crucial component of the machining process. Nevertheless, as the duration of cutting fluid use increases, its performance progressively deteriorates, presenting a s...
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This paper proposes a new disturbance observer (DO)-based reinforcement learning (RL) control approach for nonlinear systems with unmatched (generalized) disturbances. While a nonlinear disturbance observer (NDO) is u...
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This research focuses on the 2023 SPDC competition project, which provides the necessary power for robots based on energy types such as wind and light. Under the guidance of many special restrictions, a competitive ta...
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