Article
Automation & Control Systems
Abhishek Kumar Kashyap, Dayal R. Parhi
Summary: The study focuses on gait planning for a humanoid robot NAO using the LIPM model and a PID controller tuned with PSO technique. The results show that applying the PSO tuned PID controller provides a predictable gait, reduces stabilization time, and essentially eliminates overshoot by 25%. Comparisons with other controllers and statistical analysis support the credibility of the proposed controller.
Article
Computer Science, Information Systems
Xiaoqing Zhu, Mingchao Wang, Xiaogang Ruan, Lu Chen, Tingdong Ji, Xinyuan Liu
Summary: A gait planning algorithm framework is proposed to address the problem of stable walking of quadruped robots on unknown slopes. The terrain slope is estimated using the attitude information obtained from the inertial measurement unit (IMU), without relying on robot vision. The algorithm adopts a crawl gait and plans the center of gravity trajectory based on the zero-moment point (ZMP) stability criterion. The parameters of the Bezier curve are modulated using the augmented random search (ARS) algorithm to plan the robot's foot trajectory. Simulation results demonstrate that the proposed algorithm can adaptively adjust the robot's attitude and stably navigate through unknown slope environments.
Article
Chemistry, Multidisciplinary
Liang Yang, Guanyu Lai, Yong Chen, Zhihui Guo
Summary: This paper proposes a new online walking controller for biped robots, which integrates a neural-network estimator and an incremental learning mechanism to improve control performance in dynamic environment. An interval type-2 fuzzy weight identifier is developed to address the imbalanced distribution problem of training data. The effectiveness of the control scheme is verified through full-dynamics simulation and practical robot experiment.
APPLIED SCIENCES-BASEL
(2021)
Article
Chemistry, Multidisciplinary
Chuzhao Liu, Junyao Gao, Dingkui Tian, Xuefeng Zhang, Huaxin Liu, Libo Meng
Summary: This study focuses on the disturbance rejection performance of biped robots during walking. By combining deep reinforcement learning algorithm with model ZMP control, the proposed method effectively reduces the probability of biped robots falling when subjected to external forces in the x-direction.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Mustafa Wassef Hasan, Nizar Hadi Abbas
Summary: This paper proposes an adaptive fuzzy with a nonlinear PID (AFNLPID) controller to address and eliminate disturbances caused by ocean currents and unknown uncertainties in underwater robotic vehicle (URV) dynamics. The AFNLPID controller estimates the unknown dynamics parameters of the URV and unknown disturbances. Two types of disturbances, deepwater wave disturbances and near-surface shallow water wave disturbances, are presented. The performance of the AFNLPID controller is evaluated by comparing it with other controllers, such as adaptive fuzzy PID (AFPID, AFPID2) controllers, conventional PID controllers, and nonlinear fractional-order PID (NLFOPID) controllers.
Article
Engineering, Multidisciplinary
Jyoti Ranjan Nayak, Binod Shaw, Binod Kumar Sahu, Karanam Appala Naidu
Summary: This work demonstrates the Automatic Generation Control (AGC) of two and three area reheat thermal systems with nonlinearities. A Two Degree of Freedom Optimal Fuzzy Aided PID (2DOF OFAPID) controller is applied as a secondary controller in all areas. The performance of the proposed 2DOF OFAPID controller is validated through a comparative study. The relevant parameters and rules are established using Crow Search Algorithm (CSA) and an Optimized Adaptive CSA algorithm.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH
(2022)
Article
Automation & Control Systems
Kai Guo, Zekun Zhang, Dong-Dong Zheng, Jie Sun
Summary: This article proposes a novel OBE algorithm that improves system robustness and tracking capability by constraining the learning gain matrix. The robot dynamics are reconstructed through neural networks, and the partial asymptotic stability of the closed-loop system is demonstrated using the Lyapunov method. Experimental results validate the effectiveness of the proposed approach.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Multidisciplinary Sciences
Shuhai Jiang, Wei Song, Zhongkai Zhou, Shangjie Sun
Summary: In this study, a six-wheeled food delivery robot with a suspension damping structure was designed to achieve shock absorption and stability under complex terrain conditions. The dynamic analysis and simulation experiments confirmed the stability of the robot and the rationality of the structural design.
Article
Physics, Multidisciplinary
The Anh Mai, Thai Son Dang
Summary: This paper focuses on the design and optimization of Fuzzy PD controllers for a two-link robot manipulator system, which is implemented by the stochastic fractal search method. The proposed optimal fuzzy PD controllers show advantages in terms of performance such as small error, rapid response, and high stability.
EUROPEAN PHYSICAL JOURNAL-SPECIAL TOPICS
(2021)
Article
Chemistry, Multidisciplinary
Ziqi Liu, Ce Zhang, Bo Jin, Shuo Zhai, Junkui Dong
Summary: This paper presents an efficient embedded controller for a hydraulic walking robot, along with related control strategies and algorithms. Experimental results show that the controller can effectively reduce joint tracking errors and standard deviations in force control.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Yue Zhao, Feng Gao, Qiao Sun, Yunpeng Yin
Summary: This paper presents a terrain classification and adaptive locomotion method for a hexapod robot, which utilizes force-based terrain classification by collecting joint torques and IMU information, and proposes dynamic alternating tripod trotting gait for adaptive locomotion on different ground properties. The method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam, providing valuable reference for other legged robots in outdoor environments.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Article
Engineering, Multidisciplinary
Koray K. Safak, Turgut Batuhan Baturalp, Selim Bozkurt
Summary: This study proposes a design approach and develops a low-power planar biped robot named YU-Bibot. The robot's kinematic structure consists of six independently driven axes with a low power-to-weight ratio of 30 W/kg. It mimics the natural human walking gait and features spring-supported knee and ankle joints.
Article
Computer Science, Artificial Intelligence
Seyyed Morteza Ghamari, Fatemeh Khavari, Hasan Mollaee
Summary: In this paper, a Lyapunov-based model reference PID control strategy is proposed for a DC/DC Buck converter. The PID strategy is enhanced with a Lyapunov definition-based adaptive mechanism to increase stability and robustness under various disturbances. The system is treated as a black-box, eliminating the need for accurate mathematical modeling and reducing computational burden. The Lyapunov concept offers faster and more accurate optimization with reliable stability assurance. Simulation and experimental results confirm the superior performance of the Lyapunov-based PID strategy compared to conventional FOPID and PID control techniques.
Article
Computer Science, Artificial Intelligence
T. Shuprajhaa, Shiva Kanth Sujit, K. Srinivasan
Summary: This research work aims to develop a data-driven adaptive PID controller for controlling unstable processes. By modifying the Proximal Policy Optimization algorithm and introducing adaptive adjustments, the proposed controller can be directly applied to various industrial processes without the need for process modeling and prior knowledge, outperforming traditional PID controllers and other algorithms in terms of performance.
APPLIED SOFT COMPUTING
(2022)
Article
Automation & Control Systems
Yinan Miao, Xingjian Wang, Shaoping Wang, Rufei Li
Summary: An adaptive switching controller based on the dynamic zero-moment point is proposed for versatile hip exoskeleton in this article. A linear finite hysteretic state machine is designed for recognizing hybrid motion phases. The torque planning strategy based on dynamic zero-moment point is used to obtain assistant torque adaptively for different locomotion. Experimental results demonstrate the stability and accuracy of motion phase recognition, as well as excellent kinematic performance. The proposed controller achieves a 6.93% reduction in net metabolic rate during walking with the hip exoskeleton and a 54.8% reduction in integrated surface electromyography during object lifting. Compared to existing research, the proposed controller has significant advantages, providing multiple types of locomotion with low complexity and energy consumption.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Multidisciplinary
Ravi Kumar Mandava, Pandu R. Vundavilli
SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES
(2018)
Article
Robotics
Ravi Kumar Mandava, Mrudul Katla, Pandu R. Vundavilli
INTELLIGENT SERVICE ROBOTICS
(2019)
Article
Computer Science, Artificial Intelligence
Ravi Kumar Mandava, Pandu R. Vundavilli
NEURAL COMPUTING & APPLICATIONS
(2020)
Article
Chemistry, Physical
Ravi Kumar Mandava, Vajrala Venkata Reddy, Veeravalli Rama Koteswara Rao, K. Srinivasulu Reddy
Summary: This research studied the wear and frictional behaviour of Aluminium metal matrix composite using fly ash and silicon carbide as reinforcements. The composite with 20% of FA and SiC was tested in dry conditions, with results showing that the applied load is the most significant factor affecting wear rate.
Proceedings Paper
Engineering, Industrial
Shyam Prasad Kodali, Ravi Kumar Mandava, Boggarapu Nageswara Rao
Summary: In this research, an optimal PID controller is implemented for smooth control of a robotic manipulator. By using a genetic algorithm to tune the controller gains, better results than manual tuning are achieved.
RECENT ADVANCES IN INDUSTRIAL PRODUCTION, ICEM 2020
(2022)
Proceedings Paper
Engineering, Industrial
K. Srinivasulu Reddy, V. Venkata Reddy, Ravi Kumar Mandava
Summary: The objective of this study is to conduct machining operation on developed composite and investigate the influence of machining process parameters on surface roughness and material removal rate. The authors used Grey relational analysis and Data Envelopment Analysis based Ranking to find the optimal machining parameters and levels for evaluating machining quality characteristics.
RECENT ADVANCES IN INDUSTRIAL PRODUCTION, ICEM 2020
(2022)
Proceedings Paper
Engineering, Manufacturing
Priyaranjan Samal, Rishu Raj, Ravi Kumar Mandava, Pandu R. Vundavilli
ADVANCES IN MATERIALS AND MANUFACTURING ENGINEERING, ICAMME 2019
(2020)
Proceedings Paper
Engineering, Manufacturing
A. K. Jishnu, Ravi Kumar Mandava, Pandu R. Vundavilli
ADVANCES IN MATERIALS AND MANUFACTURING ENGINEERING, ICAMME 2019
(2020)
Proceedings Paper
Engineering, Manufacturing
Sumit Govind Kanpartiwar, Ravi Kumar Mandava, Pandu R. Vundavilli
ADVANCES IN MATERIALS AND MANUFACTURING ENGINEERING, ICAMME 2019
(2020)
Article
Multidisciplinary Sciences
Priyaranjan Samal, Ravi Kumar Mandava, Pandu R. Vundavilli
SN APPLIED SCIENCES
(2020)
Article
Automation & Control Systems
Ravi Kumar Mandava, Pandu Ranga Vundavilli
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL
(2019)
Article
Computer Science, Artificial Intelligence
Ravi Kumar Mandava, Pandu R. Vundavilli
EVOLUTIONARY INTELLIGENCE
(2019)
Article
Automation & Control Systems
Ravi Kumar Mandava, Pandu Ranga Vundavilli
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
(2018)
Article
Automation & Control Systems
Ravi Kumar Mandava, Pandu Ranga Vundavilli
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL
(2018)