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This paper presents the integration results of the EMC2 software, mechatronic prototype and fuzzy PI controller. The structure of fuzzy controller has two-inputs, two-outputs (TITO) system where the error and derivative error are the inputs while the proportional and integral gains are the outputs. The fuzzy sets for each input are five Gaussian membership(More)
We address the problem of generalized output regulation for nonlinear systems in the presence of unknown parameters in the full information case. We generalize the classical output regulation problem in order to expand the class of reference or disturbance signals. Under appropriate sufcient conditions, a state feedback regulator is built for a class of(More)
— In this paper, we introduce the concept of time parametrization for Quadrotor flight maneuvers establishing a novel, robust and model free feedback controller based on a quaternion representation without singularities. Three prominent features are remarked: firstly, the control algorithm assures exponential stability of the full position/attitude dynamics(More)
This paper shows the results obtained experimentally by controlling the speed of a DC motor using different wavelets (Morlet, RASP1, RASP2, RASP3, POLY-WOG1, POLYWOG3, POLYWOG4 and Shannon) in an auto-tuning wavenet PID controller. Such controller tunes online the proportional, integral and derivative gains of a classical discrete PID controller, through(More)
This paper proposes a wavelet control method for visual servoing. In this control scheme, two kind of wavelet are employed, one is used to processing the image of the dynamical system, and the other is used to design the multeresolution PID controller. This method is applied to the visual servo control of the inverted pendulum system using a DSP equipped(More)
The human-robot physical interaction systems (HRpI), are platforms designed for the transmission of knowledge, from contact between a human kinesthetic, and a robotic device with inertial dynamic and tribological low. The dynamic of contact for the robotic system is modified to the inertial, gravitational forces and tribology (friction and mechanical(More)
This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant(More)
A haptic device is a joined link mechanism with limited inertial and tribological effect in each joint, electromechanical property that allows its use in teleoperation, remote control, training and others applications with high performance. This paper presents experimental results of a motion nonlinear control strategy based on Lyapunov's stability theory(More)
SUMMARY In this contribution, a suboptimal robust control law for a specific class of underactuated delayed system is synthesized. The control strategy based on very well-known results for delay-dependent stability considers the time delay involved in the dynamical system, which affects to control signal. This contribution illustrates how the theoretical(More)
This paper presents a novel approach of reinforcement learning for continuous systems. The scheme is based in wavelet networks to approximating the continuous space of states. The structure of the wavelet network is dynamically generated accord to the explored regions and trained with a modified Q-Learning algorithm. The wavelet network include a fuzzy(More)