Resilient consensus control for networked robotic manipulators under actuator faults and deception attacks

ISA Transactions, Год журнала: 2025, Номер unknown

Опубликована: Фев. 1, 2025

Язык: Английский

Takagi–Sugeno–Kang Fuzzy Inference Tracking Controller for UAV Bicopter

Symmetry, Год журнала: 2025, Номер 17(5), С. 759 - 759

Опубликована: Май 14, 2025

The UAV bicopter is a double-propeller system whose main objective to stabilize rod at given angle by precisely controlling the rotation speed of each propeller. This mechanism generates asymmetric thrust forces that induce torque on bar, thus allowing its pitch be modified. Since dynamics involve complex interactions between generated rotors, aerodynamic effects, and pendulum behavior system, classified as highly nonlinear sensitive external disturbances. To address this complexity, implementation fuzzy Takagi–Sugeno–Kang (TSK) controller proposed. decomposes into multiple local linear models associated with specific operating condition, such different angles rotor speeds. control strategy provides accurate trajectory tracking effectively handles disturbances varying conditions, making approach practical solution for both dynamic uncertain environments. ensures precise demonstrates robust performance compared other methods, PID LQR, which often struggle nonlinearities. TSK has proven effectiveness in experimental tests, achieving root mean square errors (RMSEs) 0.2049, 0.3269, 0.3899, 0.3335, 0.2494, evaluate average error degrees concerning target position, trajectories −10 10, −12 12, −15 15, −17 17, −20 20 degrees, respectively.

Язык: Английский

Robust control of ball-balancing robot using fractional-order PID optimized via particle swarm

Journal of the Brazilian Society of Mechanical Sciences and Engineering, Год журнала: 2025, Номер 47(7)

Опубликована: Май 16, 2025

Язык: Английский