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Robust automatic parallel parking in tight spaces via fuzzy logic
A robust automatic parallel parking algorithm for parking in tight spaces under both vehicle localization errors and parking space detection errors and a genetic fuzzy system which uses a genetic algorithm’s learning ability to determine efiective parameters for the developed fuzzy logic controllers is presented. Expand
Motion planning for an autonomous Underwater Vehicle via Sampling Based Model Predictive Control
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupledExpand
Fuzzy PI control design for an industrial weigh belt feeder
Experimental results show the effectiveness of the proposed fuzzy logic controllers for an industrial weigh belt feeder and a performance comparison of the three controllers is given. Expand
Nonlinear Model Predictive Control using sampling and goal-directed optimization
A novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories that avoids the local minima which can limit the performance of MPC algorithms implemented using traditional, derivative-based, nonlinear programming. Expand
A neurocomputing approach for solving the algebraic matrix Riccati equation
  • F. Ham, E. Collins
  • Mathematics, Computer Science
  • Proceedings of International Conference on Neural…
  • 3 June 1996
This approach is able to utilize a good initial condition to reduce the computation time in comparison to standard methods for solving the Riccati equation. Expand
Control Methods of Inverter-Interfaced Distributed Generators in a Microgrid System
Microgrids are a new concept for future energy distribution systems that enable renewable energy integration and improved energy management capability. Microgrids consist of multiple distributedExpand
Digital Anti-Windup PI Controllers for Variable-Speed Motor Drives Using FPGA and Stochastic Theory
The windup phenomenon occurs when the output of a proportional-integral (PI) controller is saturated, which results in performance degradation or even instability. In this letter, three newExpand
Centralized and distributed task allocation in multi-robot teams via a stochastic clustering auction
A novel feature of this algorithm is that, by tuning the annealing suite and turning the uphill movements on and off, the global team performance after algorithm convergence can slide in the region between the global optimal performance and the performance associated with a random allocation. Expand
Robot navigation in very cluttered environments by preference-based fuzzy behaviors
This paper presents the design of a preference-based fuzzy behavior system for navigation control of robotic vehicles using the multivalued logic framework and shows that the proposed method allows the robot to smoothly and effectively navigate through cluttered environments such as dense forests. Expand
Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle
It is shown that the closed-loop system that results from inclusion of the dynamics of the [proportional--integral--derivative (PID)] speed controllers for each set of wheels does a much better job than the open-loop model of predicting the vehicle linear and angular velocities. Expand