Two degrees of freedom feedback and feedforward optimal control of multivariable stochastic systems
Automatica (Journal of IFAC)
An introduction to fuzzy control
An introduction to fuzzy control
On the design of robust two degree of freedom controllers
Automatica (Journal of IFAC) - Special issue on robust control
A state-space parametrization of discrete-time two-degree-of-freedom integral controllers
Automatica (Journal of IFAC)
Design and analysis of a fuzzy proportional-integral-derivative controller
Fuzzy Sets and Systems
Modern control engineering (3rd ed.)
Modern control engineering (3rd ed.)
Robustness of fuzzy control and its application to a thermal plant
Mathematics and Computers in Simulation - Special issue from the IMACS/IFAC international symposium on soft computing methods and applications: “SOFTCOM '99” (held in Athens, Greece)
A self-tuning fuzzy PI controller
Fuzzy Sets and Systems
One-step ahead predictive fuzzy controller
Fuzzy Sets and Systems
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Robot Dynamics and Control
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fuzzy Control
Digital Control of Dynamic Systems
Digital Control of Dynamic Systems
Fuzzy Model Identification for Control
Fuzzy Model Identification for Control
Fuzzy control rules extraction from perception-based information using computing with words
Information Sciences—Informatics and Computer Science: An International Journal - Special issue: Intelligent information systems and applications
Genetic fuzzy control for time-varying delayed uncertain systems with a robust stability safeguard
Applied Mathematics and Computation
Automatic generation of fuzzy rule-based models from data by genetic algorithms
Information Sciences—Informatics and Computer Science: An International Journal - Special issue on recent advances in soft computing
Genetic algorithms and fuzzy control: a practical synergism for industrial applications
Computers in Industry
Diagnosis of the diseases: using a GA-fuzzy approach
Information Sciences: an International Journal - Special issue: Medical expert systems
Information Sciences—Informatics and Computer Science: An International Journal
Fuzzy-genetic algorithm for automatic fault detection in HVAC systems
Applied Soft Computing
A fuzzy-based lifetime extension of genetic algorithms
Fuzzy Sets and Systems
Decentralized adaptive fuzzy control of robot manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Fuzzy basis functions, universal approximation, and orthogonal least-squares learning
IEEE Transactions on Neural Networks
PI-Fuzzy controllers for integral plants to ensure robust stability
Information Sciences: an International Journal
Robotics and Autonomous Systems
EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots
Information Sciences: an International Journal
Empirical analysis of an on-line adaptive system using a mixture of Bayesian networks
Information Sciences: an International Journal
MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators
Information Sciences: an International Journal
Survey paper: A survey on industrial applications of fuzzy control
Computers in Industry
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Locomotion control of legged robots is a very challenging task because very accurate foot trajectory tracking control is necessary for stable walking. An electro-hydraulically actuated walking robot has sufficient power to walk on rough terrain and carry a heavier payload. However, electro-hydraulic servo systems suffer from various shortcomings such as a high degree of nonlinearity, uncertainty due to changing hydraulic properties, delay due to oil flow and dead-zone of the proportional electromagnetic control valves. These shortcomings lead to inaccurate analytical system model, therefore, application of classical control techniques result into large tracking error. Fuzzy logic is capable of modeling mathematically complex or ill-defined systems. Therefore, fuzzy logic is becoming popular for synthesis of control systems for complex and nonlinear plants. In this investigation, a two-degree-of-freedom fuzzy controller, consisting of a one-step-ahead fuzzy prefilter in the feed-forward loop and a PI-like fuzzy controller in the feedback loop, has been proposed for foot trajectory tracking control of a hydraulically actuated hexapod robot. The fuzzy prefilter has been designed by a genetic algorithm (GA) based optimization. The prefilter overcomes the flattery delay caused by the hydraulic dead-zone of the electromagnetic proportional control valve and thus helps to achieve better tracking. The feedback fuzzy controller ensures the stability of the overall system in the face of model uncertainty associated with hydraulically actuated robotic mechanisms. Experimental results exhibit that the proposed controller manifests better foot trajectory tracking performance compared to single-degree-of-freedom (SDF) fuzzy controller or optimal classical controller like state feedback LQR controller.