1. Dr. Weng's research focuses on developing control algorithms for nonlinear systems with uncertainties using techniques like fuzzy logic, neural networks, and sliding mode control.
2. His past work includes developing an adaptive fuzzy sliding mode controller for robotic systems and a tracking controller for parallel manipulators.
3. His current research further develops control methods for complex nonlinear systems like robotic systems, drilling systems, and trains of self-balancing vehicles.
Trajectory reconstruction for robot programming by demonstration IJECEIAES
The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.
Identification and Control of Three-Links Electrically Driven Robot Arm Using...Waqas Tariq
This paper uses a fuzzy neural network (FNN) structure for identifying and controlling nonlinear dynamic systems such three links robot arm. The equation of motion for three links robot arm derived using Lagrange’s equation. This equation then combined with the equations of motion for dc. servo motors which actuated the robot. For the control problem, we present the forward and inverse adaptive control approaches using the FNN. Computer simulation is performed to view the results for identification and control
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
A Simple Integrative Solution For Simultaneous Localization And MappingWaqas Tariq
Simultaneous Localization and Mapping is a method used to find the location of a mobile robot while at the same time build a constructive map of its surrounding environment. This paper gives a brief description about a simple integrative SLAM technique using a Laser Range Finder (LRF) and Odometry data, primarily for indoor environments. In this project, a solution for the SLAM problem was implemented on a differential drive mobile robot equipped with a SICK laser scanner.
Trajectory reconstruction for robot programming by demonstration IJECEIAES
The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.
Identification and Control of Three-Links Electrically Driven Robot Arm Using...Waqas Tariq
This paper uses a fuzzy neural network (FNN) structure for identifying and controlling nonlinear dynamic systems such three links robot arm. The equation of motion for three links robot arm derived using Lagrange’s equation. This equation then combined with the equations of motion for dc. servo motors which actuated the robot. For the control problem, we present the forward and inverse adaptive control approaches using the FNN. Computer simulation is performed to view the results for identification and control
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
Wall follower autonomous robot development applying fuzzy incremental controllerrajabco
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled us- ing fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to de- termine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guid- ance line and has good performance compare with PID controller.
The International Journal of Engineering and Science (The IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
A Simple Integrative Solution For Simultaneous Localization And MappingWaqas Tariq
Simultaneous Localization and Mapping is a method used to find the location of a mobile robot while at the same time build a constructive map of its surrounding environment. This paper gives a brief description about a simple integrative SLAM technique using a Laser Range Finder (LRF) and Odometry data, primarily for indoor environments. In this project, a solution for the SLAM problem was implemented on a differential drive mobile robot equipped with a SICK laser scanner.
Adaptive Control of a Robotic Arm Using Neural Networks Based ApproachWaqas Tariq
A new neural networks and time series prediction based method has been discussed to control the complex nonlinear multi variable robotic arm motion system in 3d environment without engaging the complicated and voluminous dynamic equations of robotic arms in controller design stage, the proposed method gives such compatibility to the manipulator that it could have significant changes in its dynamic properties, like getting mechanical loads, without need to change designs of the controller.
Design and Identification of the Train Model in Automatic Train Operation (AT...IJRES Journal
ATO(Automatic Train Operation) is an important part of the ATC(Automatic Train Control), in which train modeling is the core of ATO. This paper designs a train model including three parts, and identify the train model by PEM method according to data of line 3.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Smart element aware gate controller for intelligent wheeled robot navigationIJECEIAES
The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Flocking Control In Networks of Multiple VTOL Agents with Nonlinear and Under...CSCJournals
In this paper, the problem of flocking control in networks of multiple Vertical Take-Off and Landing (VTOL) agents with nonlinear and under-actuated features is addressed. Compared with the widely used double-integrator model, the VTOL agents are distinguished with nonlinear and under-actuated dynamics and cannot be linearly parameterized. A unified and systematic procedure is employed to design the flocking controllers by using the backstepping technique to guarantee multi-agents to arrive at a fixed formation and converge in a desired geometric pattern whose centroid move along a desired trajectory. Finally, some numerical simulations are provided to illustrate the effectiveness of the new design.
Adaptive Neuro-Fuzzy Control Approach for a Single Inverted Pendulum System IJECEIAES
The inverted pendulum is an under-actuated and nonlinear system, which is also unstable. It is a single-input double-output system, where only one output is directly actuated. This paper investigates a single intelligent control system using an adaptive neuro-fuzzy inference system (ANFIS) to stabilize the inverted pendulum system while tracking the desired position. The nonlinear inverted pendulum system was modelled and built using MATLAB Simulink. An adaptive neuro-fuzzy logic controller was implemented and its performance was compared with a Sugeno-fuzzy inference system in both simulation and real experiment. The ANFIS controller could reach its desired new destination in 1.5 s and could stabilize the entire system in 2.2 s in the simulation, while in the experiment it took 1.7 s to reach stability. Results from the simulation and experiment showed that ANFIS had better performance compared to the Sugeno-fuzzy controller as it provided faster and smoother response and much less steady-state error.
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Journals
Abstract Path planning in mobile robots must ensure optimality of the path. The optimality achieved may be in path, time, energy consumed etc. Path planning in robots also depends on the environment in which it operates like, static or dynamic, known or unknown etc. Global path planning using A* algorithm and genetic algorithm is investigated in this paper. A known dynamic environment, in which a control station will compute the shortest path and communicate to the mobile robot and the mobile robot, will traverse through this path to reach the goal. The control station will keep track of the path traversed by the robot. The mobile robot navigates through the shortest path and if the robot detects any obstacle in the destined path, the mobile robot will update the information about the environment and this information together with the current location will be communicated to the control station. Then the control station, with the updated map of the environment and new starting location and destination recalculates the new shortest path, if any, and will communicate to the mobile robot so that it can reach the destination. The technique has been implemented and tested extensively in real-world experiments and simulation runs. The results demonstrate that the technique effectively calculates the shortest path in known dynamic environment and allows the robot to quickly accomplish the mission.
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Motion Control of Mobile Robots using Fuzzy Controllerijtsrd
In this study, a motion control based on fuzzy logic is designed so that mobile robots can make the turns they make when moving in an unknown environment more flexibly and smoothly. Fuzzy logic control is suitable for controlling mobile robots because the results can be obtained under uncertainty. Fuzzy logic control is implemented through a set of rules created using expert knowledge. The fuzzy rules created in this paper are designed to allow mobile robots to escape from obstacles, to avoid contact with walls, and to make soft turns without harming their structure. According to the obtained simulation results, the mobile robot has been shown to have successful results in fuzzy logic based motion control. Halil ‡etin | Akif Durdu "Motion Control of Mobile Robots using Fuzzy Controller" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-1 , December 2019, URL: https://www.ijtsrd.com/papers/ijtsrd29626.pdf Paper URL: https://www.ijtsrd.com/engineering/computer-engineering/29626/motion-control-of-mobile-robots-using-fuzzy-controller/halil-%C3%A7etin
Neural Network based Vehicle Classification for Intelligent Traffic Controlijseajournal
Nowadays, number of vehicles has been increased and traditional systems of traffic controlling couldn’t be
able to meet the needs that cause to emergence of Intelligent Traffic Controlling Systems. They improve
controlling and urban management and increase confidence index in roads and highways. The goal of this
article is vehicles classification base on neural networks. In this research, it has been used a immovable
camera which is located in nearly close height of the road surface to detect and classify the vehicles. The
algorithm that used is included two general phases; at first, we are obtaining mobile vehicles in the traffic
situations by using some techniques included image processing and remove background of the images and
performing edge detection and morphology operations. In the second phase, vehicles near the camera are
selected and the specific features are processed and extracted. These features apply to the neural networks
as a vector so the outputs determine type of vehicle. This presented model is able to classify the vehicles in
three classes; heavy vehicles, light vehicles and motorcycles. Results demonstrate accuracy of the
algorithm and its highly functional level.
VARIATIONAL MONTE-CARLO APPROACH FOR ARTICULATED OBJECT TRACKINGcsandit
In this paper, we describe a novel variational Monte Carlo approach for modeling and tracking
body parts of articulated objects. An articulated object (human target) is represented as a
dynamic Markov network of the different constituent parts. The proposed approach combines
local information of individual body parts and other spatial constraints influenced by
neighboring parts. The movement of the relative parts of the articulated body is modeled with
local information of displacements from the Markov network and the global information from
other neighboring parts. We explore the effect of certain model parameters (including the
number of parts tracked; number of Monte-Carlo cycles, etc.) on system accuracy and show that
ourvariational Monte Carlo approach achieves better efficiency and effectiveness compared to
other methods on a number of real-time video datasets containing single targets.
Adaptive Control of a Robotic Arm Using Neural Networks Based ApproachWaqas Tariq
A new neural networks and time series prediction based method has been discussed to control the complex nonlinear multi variable robotic arm motion system in 3d environment without engaging the complicated and voluminous dynamic equations of robotic arms in controller design stage, the proposed method gives such compatibility to the manipulator that it could have significant changes in its dynamic properties, like getting mechanical loads, without need to change designs of the controller.
Design and Identification of the Train Model in Automatic Train Operation (AT...IJRES Journal
ATO(Automatic Train Operation) is an important part of the ATC(Automatic Train Control), in which train modeling is the core of ATO. This paper designs a train model including three parts, and identify the train model by PEM method according to data of line 3.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Smart element aware gate controller for intelligent wheeled robot navigationIJECEIAES
The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Flocking Control In Networks of Multiple VTOL Agents with Nonlinear and Under...CSCJournals
In this paper, the problem of flocking control in networks of multiple Vertical Take-Off and Landing (VTOL) agents with nonlinear and under-actuated features is addressed. Compared with the widely used double-integrator model, the VTOL agents are distinguished with nonlinear and under-actuated dynamics and cannot be linearly parameterized. A unified and systematic procedure is employed to design the flocking controllers by using the backstepping technique to guarantee multi-agents to arrive at a fixed formation and converge in a desired geometric pattern whose centroid move along a desired trajectory. Finally, some numerical simulations are provided to illustrate the effectiveness of the new design.
Adaptive Neuro-Fuzzy Control Approach for a Single Inverted Pendulum System IJECEIAES
The inverted pendulum is an under-actuated and nonlinear system, which is also unstable. It is a single-input double-output system, where only one output is directly actuated. This paper investigates a single intelligent control system using an adaptive neuro-fuzzy inference system (ANFIS) to stabilize the inverted pendulum system while tracking the desired position. The nonlinear inverted pendulum system was modelled and built using MATLAB Simulink. An adaptive neuro-fuzzy logic controller was implemented and its performance was compared with a Sugeno-fuzzy inference system in both simulation and real experiment. The ANFIS controller could reach its desired new destination in 1.5 s and could stabilize the entire system in 2.2 s in the simulation, while in the experiment it took 1.7 s to reach stability. Results from the simulation and experiment showed that ANFIS had better performance compared to the Sugeno-fuzzy controller as it provided faster and smoother response and much less steady-state error.
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Journals
Abstract Path planning in mobile robots must ensure optimality of the path. The optimality achieved may be in path, time, energy consumed etc. Path planning in robots also depends on the environment in which it operates like, static or dynamic, known or unknown etc. Global path planning using A* algorithm and genetic algorithm is investigated in this paper. A known dynamic environment, in which a control station will compute the shortest path and communicate to the mobile robot and the mobile robot, will traverse through this path to reach the goal. The control station will keep track of the path traversed by the robot. The mobile robot navigates through the shortest path and if the robot detects any obstacle in the destined path, the mobile robot will update the information about the environment and this information together with the current location will be communicated to the control station. Then the control station, with the updated map of the environment and new starting location and destination recalculates the new shortest path, if any, and will communicate to the mobile robot so that it can reach the destination. The technique has been implemented and tested extensively in real-world experiments and simulation runs. The results demonstrate that the technique effectively calculates the shortest path in known dynamic environment and allows the robot to quickly accomplish the mission.
Design and implementation of path planning algorithm for wheeled mobile robot...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Motion Control of Mobile Robots using Fuzzy Controllerijtsrd
In this study, a motion control based on fuzzy logic is designed so that mobile robots can make the turns they make when moving in an unknown environment more flexibly and smoothly. Fuzzy logic control is suitable for controlling mobile robots because the results can be obtained under uncertainty. Fuzzy logic control is implemented through a set of rules created using expert knowledge. The fuzzy rules created in this paper are designed to allow mobile robots to escape from obstacles, to avoid contact with walls, and to make soft turns without harming their structure. According to the obtained simulation results, the mobile robot has been shown to have successful results in fuzzy logic based motion control. Halil ‡etin | Akif Durdu "Motion Control of Mobile Robots using Fuzzy Controller" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-4 | Issue-1 , December 2019, URL: https://www.ijtsrd.com/papers/ijtsrd29626.pdf Paper URL: https://www.ijtsrd.com/engineering/computer-engineering/29626/motion-control-of-mobile-robots-using-fuzzy-controller/halil-%C3%A7etin
Neural Network based Vehicle Classification for Intelligent Traffic Controlijseajournal
Nowadays, number of vehicles has been increased and traditional systems of traffic controlling couldn’t be
able to meet the needs that cause to emergence of Intelligent Traffic Controlling Systems. They improve
controlling and urban management and increase confidence index in roads and highways. The goal of this
article is vehicles classification base on neural networks. In this research, it has been used a immovable
camera which is located in nearly close height of the road surface to detect and classify the vehicles. The
algorithm that used is included two general phases; at first, we are obtaining mobile vehicles in the traffic
situations by using some techniques included image processing and remove background of the images and
performing edge detection and morphology operations. In the second phase, vehicles near the camera are
selected and the specific features are processed and extracted. These features apply to the neural networks
as a vector so the outputs determine type of vehicle. This presented model is able to classify the vehicles in
three classes; heavy vehicles, light vehicles and motorcycles. Results demonstrate accuracy of the
algorithm and its highly functional level.
VARIATIONAL MONTE-CARLO APPROACH FOR ARTICULATED OBJECT TRACKINGcsandit
In this paper, we describe a novel variational Monte Carlo approach for modeling and tracking
body parts of articulated objects. An articulated object (human target) is represented as a
dynamic Markov network of the different constituent parts. The proposed approach combines
local information of individual body parts and other spatial constraints influenced by
neighboring parts. The movement of the relative parts of the articulated body is modeled with
local information of displacements from the Markov network and the global information from
other neighboring parts. We explore the effect of certain model parameters (including the
number of parts tracked; number of Monte-Carlo cycles, etc.) on system accuracy and show that
ourvariational Monte Carlo approach achieves better efficiency and effectiveness compared to
other methods on a number of real-time video datasets containing single targets.
Sistema aduanero mexicano (Regímenes aduaneros)Diana_Zac
Los regímenes aduaneros se establecieron como un manera de tener en control todas las mercancías que se importan y se exportan, con el fin de saber exactamente su ubicación, tanto dentro como fuera del país y el plazo que se mantendrá en dicha ubicación, de esta manera los regímenes aduaneros constituyen una pieza importante en la forma que tiene el gobierno de llevar un control sobre las mercancías que de una u otra forma se encuentran relacionadas con el país. Por lo tanto los regímenes aduaneros es la forma exacta de mantener un control sobre los productos que cruzan nuestras aduanas.
El sistema aduanero mexicano es la ley aduanera que nos impone leyes y reglamentos relacionados al comercio exterior, este sistema aduanero es de vital importancia para realizar cualquier movimiento en cuanto comercio exterior, ya que seguirlo nos garantiza realizar las transacciones en tiempo y forma y con la mejor calidad, asegurando así cualquier posible imprevisto.
El régimen aduanero es el conjunto de operaciones que están relacionadas con un destino aduanero específico de una mercancía de acuerdo con la declaración presentada por el interesado en la aduana.
Los regímenes aduaneros contemplados en nuestra legislación se dividen en seis, los cuales son:
• Definitivos
• Temporales
• Depósito Fiscal
• Tránsito de mercancías
• Elaboración, transformación o reparación en recinto fiscalizado
• Recinto fiscalizado estratégico
Mathematical modeling and kinematic analysis of 5 degrees of freedom serial l...IJECEIAES
Modeling and kinematic analysis are crucial jobs in robotics that entail identifying the position of the robot’s joints in order to accomplish particular tasks. This article uses an algebraic approach to model the kinematics of a serial link, 5 degrees of freedom (DOF) manipulator. The analytical method is compared to an optimization strategy known as sequential least squares programming (SLSQP). Using an Intel RealSense 3D camera, the colored object is picked up and placed using vision-based technology, and the pixel location of the object is translated into robot coordinates. The LOBOT LX15D serial bus servo controller was used to transmit these coordinates to the robotic arm. Python3 programming language was used throughout the entire analysis. The findings demonstrated that both analytical and optimized inverse kinematic solutions correctly identified colored objects and positioned them in their appropriate goal points.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Al...CSCJournals
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. The outputs represent angular position, velocity and acceleration commands, respectively. The backstepping methodology is on-line tune the sliding function based on self tuning methodology. The performance of the backstepping on-line tune fuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robot manipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulation results signify good performance of position tracking in presence of uncertainty and external disturbance.
Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560IOSR Journals
Current industrial robots are made very heavy to achieve high Stiffness
which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the
required energy to move the system. The requirement for higher speed and better system performance makes it
necessary to consider a new generation of light weight manipulators as an alternative to today's massive
inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities
and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much
more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such
systems.This project presents the flexibility and Kineto - Elasto dynamic analysis of robot manipulator
considering deflection. Based on the distributed parameter method, the generalized motion equations of robot
manipulator with flexible links are derived. The final formulation of the motion equations is used to model
general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be
used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path
trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory
(Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot
arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is
inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths
trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic
compensation. These torque variations are included in the robotic programming for getting the accurate endeffect
or’s path trajectory
Autonomous open-source electric wheelchair platform with internet-of-things a...IJECEIAES
This study aims to improve the working model of autonomous wheelchair navigation for disabled patients using the internet of things (IoT). A proportional-integral-derivative (PID) control algorithm is applied to the autonomous wheelchair to control movement based on position coordinates and orientation provided by the global positioning system (GPS) and digital compass sensor. This system is controlled through the IoT system, which can be operated from a web browser. Autonomous wheelchairs are handled using a waypoint algorithm; ESP8266 is used as a microcontroller unit that acts as a bridge for transmitting data obtained by sensors and controlling the direct current (DC) motors as actuators. The proposed system and the autonomous wheelchair performance gave satisfactory results with a longitude and latitude error of 1.1 meters to 4.5 meters. This error is obtained because of the limitations of GPS with the type of Ublox
Neo-M8N. As a starting point for further research, a mathematical model of a wheelchair was created, and pure pursuit control algorithm was used to simulate the movement. An open-source autonomous IoT platform for electric wheelchairs has been successfully created; this platform can help nurses and caretakers.
Fractional order PID for tracking control of a parallel robotic manipulator t...ISA Interchange
This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy. It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB co-simulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
Impact analysis of actuator torque degradation on the IRB 120 robot performan...IJECEIAES
Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.
Design and Experimental Evaluation of Immersion and Invariance Observer for L...Jafarkeighobadi
presents a new immersion and invariance (I&I) observer for inertial microelectromechanical
systems (MEMS) sensors-based, low-cost attitude-heading
reference systems (AHRSs). Using the I&I methodology,
the observer design problem is formulated as finding a
dynamics system, called the observer, and a differentiable
manifold in the extended state space of the Euler anglesobserver dynamics. The manifold is required to be practically stable with respect to the system trajectories. By imposing this requirement, an observer is derived to robustly
estimate the Euler angles. To show the efficacy of the I&I
observer and to compare its performance with the extended
Kalman filter (EKF), rigorous simulations are performed
using the raw data of a set of urban vehicular AHRS tests.
Index Terms—Inertial navigation, Microelectromechanical systems, Nonlinear filters, Observers
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Abstract Robots are expected to be new tools for the operations and observations in the extreme environments where humans have difficulties in direct access. One of the important matters to realize mobile robots for extreme environments is to establish systems in their structures which are strong enough to disturbances. Also, while considering surveillance in inaccessible remote areas, a need arises for the presence of a robot capable of intruding into small crevices as well as provides proper surveillance. This work aims at the implementation of a snake robot for surveillance operations in remote areas. A biologically inspired robot with various motion patterns is taken into consideration. An important problem in the control of locomotion of robots with multiple degrees of freedom is in adapting the locomotors patterns to the properties of the environment. This has been overcome by using control techniques capable of integrating the motion patterns of a snake. Here an attempt is taken to focus on the creeping locomotion of a living snake. In hybrid model, the optimal locomotion of the snake robot is tried to achieve by comparing it with that of a living snake. A wireless real time vision processing is also employed within the robot to improve its performance. The presence of Video acquisition along with processing will be an added advantage for implementation of the robot for highly precise and difficult surveillance applications. Real time processing of video enables proper and efficient control towards obstacle avoidance pattern of the robot. This ensures that the locomotion of the robot is in a bio-inspired highly efficient path towards the target. Keywords: Collision-free behavior, neural oscillator, snake locomotion, steering, real time vision processing
Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy mod...journalBEEI
This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.
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Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy mod...
Research.Essay_Chien-Chih_Weng_v3_by Prof. Karkoub
1. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 1 / 10
Statement of Research Interest
Chien-Chih Weng, PhD
My general research interest is focused on fuzzy, neural network, and integral sliding
mode control for nonlinear MIMO systems with system uncertainties and external
disturbances. In particular, I am interested in the dynamic modeling and numerical analysis of
robotic systems. My future interests are directed towards using theoretical and experimental
validation of complex dynamic systems such as drilling systems and robotic systems.
Highlights of Past Research
My previous research work reflects my theoretical background in the field of nonlinear
MIMO systems. My M.Sc. thesis research focused on the control of nonlinear MIMO systems with
matched time-varying uncertainties using an adaptive fuzzy terminal sliding mode controller
design. During the course of my doctoral work, I focused on physical nonlinear systems, such
as parallel manipulators and rolling robots with uncertainties and external disturbances.
Highlights of Relevant Research
An adaptive fuzzy/neural network was developed to control a nonlinear MIMO systems
with uncertainties and external disturbances. My current research focuses on:
1. Solving nonlinear MIMO systems with uncertainties and external disturbances.
2. Developing algorithms for nonlinear MIMO systems with uncertainties and external
disturbances.
3. Verify the model through numerical analysis and apply the developed algorithms to practical
nonlinear MIMO/SIMO systems such as a train of self-balancing vehicles and drilling systems.
Research Experience
Since I started my Ph.D work in 2007, I have been involved with several research
projects at Tatung University in Taiwan and Texas A&M University at Qatar. As a result of my
research, two journal articles have been published and three journal articles submitted to top
journals in systems and control engineering. Following is a brief description of each project that
I actively participated in.
2. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 2 / 10
Project 1: An observer-based adaptive neural network tracking control of robotic
systems, 2013
Systems such limbs/links and joints undergoing rotation and sliding motion with and without fixed base
are very complex dynamical systems, which are highly nonlinear. These problems studied by many
researchers, and several models were introduced. Only a few models have considered limb-to-limb
coupling uncertainties (e.g., serial or parallel manipulators) and multiple time-delayed state
uncertainties (e.g., snake-like or rolling-like robots). These highly nonlinear phenomena, in which
coupling is likely to occur, are due to the geometric and construction properties of robotic systems.
Understanding the physics of an inherently nonlinear problem is also important in applications such as
motion planning of robots. In this project, we developed a new approach to solve the system
uncertainties, multiple time-delayed state uncertainties, and external disturbances (see Fig. 1). The
methodology is observer-based adaptive wavelet neural network (OBAWNN) tracking control method.
The approach uses the recurrent adaptive wavelet neural network model to approximate the dynamics
of the robotic system. The method also uses an observer-based adaptive control scheme to stabilize
system. The advantage of employing adaptive wavelet neural dynamics is that we can utilize the neuron
information by activation functions to on-line tune the hidden to-output weights, and the adaptation
parameters to estimate the robot parameters and the bounds of the gains of delay states directly using
linear analytical results. Based on the simulation results, it was clear that the proposed controller was
effective in controlling the highly nonlinear system (see Figs. 2-5). The work resulted in one publication
[1].
Figure 1 The rolling robot with three-links model Figure 2 The trajectories of the error states of the
distances for the first joint
Figure 3 The trajectories of the error states of the
distances for the second joint
Figure 4 The trajectories of the error states of the
distances for the third joint
3. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 3 / 10
Figure 5 The trajectories of the estimates of the
joints
Project 2: 𝑯∞ tracking adaptive fuzzy integral sliding mode control for parallel
manipulators, 2014
In the first part of this project, we derived the inverse kinematics, and mathematical model of a 2-dof
parallel robot (see Fig. 6). Two controllers were used, 𝐻∞ tracking adaptive integral sliding mode
control (HTAFISC) and adaptive integral sliding mode control (AFISC) methods. We compared the
trajectories of the joint states from the two methods and the results showed that the HTAFISC method
is better than the AFISC (see Figs. 7-10). In the second part of this project, we compared the responses
of the tracking errors for joints 1, 2, 3, and 4 with time-varying exponent p(t) and constant exponent p.
From Figs. 11-14, it is seen that time-varying exponent p(t) can have better performance than that
constant exponent p. The work resulted in one publications [2-5].
Figure 6 The parallel manipulator model Figure 7 The trajectories of the joint states (Angles)
using AFISC
Figure 8 The trajectories of the joint states (Angles)
using HTAFISC
Figure 9 The trajectories of the joint states (velocities)
using AFISC
4. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 4 / 10
Figure 10 The trajectories of the joint states
(velocities) using HTAFISC
Figure 11 Phase-plane trajectories of the tracking
errors for joint 1 using constant exponent and time-
varying exponent from the same initial joint
Figure 12 Phase-plane trajectories of the tracking
errors for joint 2 using constant exponent and time-
varying exponent from the same initial joint
Figure 13 Phase-plane trajectories of the tracking
errors for joint 3 using constant exponent and time-
varying exponent from the same initial joint
Figure 14 Phase-plane trajectories of the tracking
errors for joint 4 using constant exponent and time-
varying exponent from the same initial joint
5. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 5 / 10
Project 3: Adaptive Integral Sliding Mode Recurrent Neural Tracking Control for
Nonlinear Interconnected Systems, 2014
In this project, an 𝐻∞ tracking control problem for nonlinear interconnected systems is proposed via
adaptive, integral sliding mode, recurrent neural control (AISMRNC) scheme. The dynamics of the
nonlinear interconnected system is first formulated as an error dynamics according to a specified
reference model. Then, a recurrent neural technique with on-line estimation schemes is developed to
approximate the dynamics of the nonlinear interconnected systems. The on-line estimation schemes in
the neurons are developed to overcome the uncertainties and identify the gains of the unknown
interconnected ones, simultaneously. The advantage of employing a recurrent neural interconnected
system is the use of linear analytical results instead of estimating nonlinear uncertain functions in
dynamics with interconnection. Using the concept of parallel distributed compensation (PDC), the
adaptive integral sliding mode control scheme is synthesized from the recurrent neural interconnected
system to tackle the system with the interconnected uncertainties, and external disturbances. Finally, in
the simulations, we present some comparison of responses of the trajectories of the joint states for
parallel manipulators using AISMRNCS and HTAFISMCS [2] (see Figs. 15-18). The work resulted in one
publications [6-7].
Figure 15 Trajectories of the joint states and desired
joint states using AISMRNCS (blue line) and
HTAFISMCS (red line)
Figure 16 Trajectories of the joint states and
desired joint states using AISMRNCS (blue line)
and HTAFISMCS (red line)
Figure 17 Trajectories of the joint states and desired
joint states using AISMRNCS (blue line) and
HTAFISMCS (red line)
Figure 18 Trajectories of the joint states and
desired joint states using AISMRNCS (blue line)
and HTAFISMCS (red line)
6. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 6 / 10
Project 4: 𝑯∞ Tracking Adaptive Fuzzy Integral Sliding Mode Control for a Train
of Self-Balancing Vehicles, 2014
Underactuated mechanical systems arise in many practical applications. These systems are
inherently highly nonlinear which makes the tracking task very challenging. For example, commercial
underactuated products, such as the SEGWAY and the Honda U3-X unicycle, have been well recognized
as powerful personal transportation vehicles. In addition, at the National Institute for research in
automation and informatics (INRIA) in France, researchers have been working on a different version of
the two-wheel vehicle which they named the B2. Unlike the SEGWAY which is a one person vehicle
system, the B2 vehicle can carry two passengers. Moreover, the B2 passengers can be seated to
maneuver the vehicle through a joystick whereas the SEGWAY passengers must stand up. In a way, the
B2 vehicle is more like a two-wheel car rather than a scooter, i.e. it represents a potential rival to the
available two and three-wheels vehicles. In order to expand the practicality and applicability of the B2
vehicle, in this project, we design a self-balancing-train system composed of n-vehicles connected by
linear springs (see Fig. 19). In this project, an 𝐻∞ tracking adaptive fuzzy integral sliding mode control
scheme is proposed for n-self-balancing interconnected vehicles system where uncertainties and
disturbances are included. Using the concept of parallel distributed compensation (PDC), the adaptive
fuzzy scheme combined with the integral sliding mode control scheme is synthesized to tackle the
system uncertainties and the external disturbances such that 𝐻∞ tracking performance is achieved.
Simulation results for a 2-self-balancing interconnected vehicles system are presented in Figs. 20-21.
The work resulted in one publications [8].
Figure 19 Schematic diagram of the n-vehicle self-balancing-train model
Figure 20 The responses of the trajectories of C.M.
of the first vehicle using time-varying exponent
with the road inclination 9.96 deg. from the initial
position to desired position
Figure 21 The responses of the trajectories of C.M. of
the second vehicle using time-varying exponent with
the road inclination 9.96 deg. from the initial position to
desired position
7. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 7 / 10
Project 5: Trajectory Tracking Control for Rotary Drilling Systems via Integral
Sliding Mode Control Approach, 2014
In this project, the trajectory tracking of a rotary drilling system via integral sliding mode control
(ISMC) scheme was developed. The rotary drilling system is composed of the rotary table, gear box,
motor, drill pipe, drill collar, and drillbit (see Fig. 22). The control scheme with time-varying exponent
was proposed to deal with the stick-slip and bit-bounce of the rotary drilling system so that the tracking
objective of the rotary table velocity of drilling components is achieved. The simulation results showed
that the ISMC law is capable of accurately controlling the bit speed. It also leads to faster dynamic
responses and suppresses torsional stick-slip induced vibrations, axial bit-bounce, and external
disturbances affecting the rotary drilling system (see Figs. 23-26) . The work resulted in one
publications [9].
Figure 22 Mechanism of rotary drilling model Figure 23 Time responses of the bit (blue line) and
rotary table (red line) speeds
Figure 24 Time response of the WOB Figure 25 Time response of the bit-bounce
Figure 26 Time responses of the TOB (blue line)
and top torque u (red line)
8. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 8 / 10
Project 6: Trajectory Tracking Control for the Self-Excited Vibrations in Deep
Drilling Systems via Adaptive Fuzzy Integral Sliding Mode Control
Approach, 2015
Stick-slip and bit-bounce are destructive dynamic phenomena encountered during rotary
drilling of oil-wells, but their exact origins and interplay are far from obvious. Consequently, the system
running output must be controlled accurately to avoid serious damage to the drilling equipment. In this
paper, a novel adaptive fuzzy integral sliding mode (AFISM) controller is designed to suppress the self-
excited axial and torsional vibrations of deep drilling systems subject to lumped uncertainty, including
system parameter variation and external disturbance. The proposed approach effectively combines the
design techniques of adaptive fuzzy control and integral sliding mode (ISM) control in order to
overcome the system nonlinearity and to provide the boundedness of the tracking errors in the closed-
loop system. Moreover, the proposed adaptive fuzzy control strategy does not depend on accurate
mathematical models, in other words, without having a priori knowledge of the upper bound of the
lumped uncertainty. Therefore, fuzzy control technique can be used to approximate the lumped
uncertainty as well as the upper bound of the uncertainty on line caused by the fuzzy modeling error. In
addition, the salient feature of the proposed control scheme with time-varying exponent is that the
controlled system has a integral sliding motion without a reaching phase where the conventional
sliding-mode control (SMC) has. The proposed technique offers superior properties such as faster finite
time convergence than with constant exponent. Therefore, an innovative intelligent control method
combining adaptive fuzzy with integral sliding mode control is developed for suppressing the self-
excited axial and torsional vibrations of deep drilling systems. The control law is derived with the strict
theoretical proof of the Lyapunov stability. The simulation results (see Figs. 27-34) show that the
AFISMC law is capable of: (1) accurately controlling the bit speed (2) suppressing the torsion stick-slip
induced vibration and axial bit-bounce with fast response time and (3) minimizing the affect of the
lumped uncertainty and modeling error on the rotary drilling system response. The work resulted in
one publications [10].
Figure 27 Simplified lumped model of the drilling
system
Figure 28 Time responses of the bit (red line) and
rotary table (blue line) speeds.
9. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 9 / 10
Figure 29 Time response of the WOB Figure 30 Time response of the TOB
Figure 31 Time response of the axial position of the
BHA
Figure 32 Time response of total depth of cutting
process d
Figure 33 Time response of the minimum
approximation error
Figure 34 Time response of the top torque
10. April 2015
Statement of Research Statement Chien-Chih Weng, Ph.D Page 10 / 10
Publications:
[1] Wen-Shyong Yu and Chien-Chih Weng, (2013) An observer-based adaptive neural network
tracking control of robotic systems, Applied Soft Computing, 13 (12), pp. 4645-4658 (SCI)
[2] Chien-Chih Weng and Wen-Shyong Yu, (2008) Adaptive Fuzzy Sliding Mode Control for Linear
Time-Varying Uncertain Systems. Proceedings of IEEE International Conference on fuzzy systems
[3] Chien-Chih Weng and Wen-Shyong Yu, (2010) Tracking Adaptive Fuzzy Integral Sliding Mode
Control for Parallel Manipulators. Proceedings of IEEE International Conference on Systems Man
and Cybernetics
[4] Chien-Chih Weng and Wen-Shyong Yu, (2012) 𝐻∞ Tarcking Adaptive Fuzzy Integral Sliding
Mode Control for Parallel Manipulators. Proceedings of IEEE International Conference on Fuzzy
Systems
[5] Wen-Shyong Yu and Chien-Chih Weng, (2014) 𝐻∞ Tracking Adaptive Fuzzy Integral Sliding Mode
Control for Parallel Manipulators, Fuzzy Sets and Systems, 248, pp. 1-38. (SCI)
[6] Wen-Shyong Yu and Chien-Chih Weng, (2014) Neural-Based Adaptive Integral Sliding Mode
Tracking Control for Nonlinear Interconnected Systems. Proceedings of IEEE International Joint
Conference on Neural Networks (IJCNN)
Under Review:
[7] Chien-Chih Weng, Mansour Karkoub, Hsuan-Yi Chen, Wen-Shyong, and Ming-Guo Her, Adaptive
Integral Sliding Mode Recurrent Neural Tracking Control for Nonlinear Interconnected Systems,
Submitted to IEEE Transactions on Neural Network and Learning Systems
[8] Chien-Chih Weng, Mansour Karkoub, Tzu-Sung Wu, Wen-Shyong, and Ming-Guo Her, 𝐻∞ Tracking
Adaptive Fuzzy Integral Sliding Mode Control for a Train of Self-Balancing Vehicles, Submitted to
ASME Journal of Dynamic Systems, Measurement and Control
[9] Chien-Chih Weng, Mansour Karkoub, Hsuan-Yi Chen, Wen-Shyong, and Ming-Guo Her, Trajectory
Tracking Control for Rotary Drilling Systems via Integral Sliding Mode Control Approach,
Submitted to IEEE Transactions on Automation Science and Engineering
[10] Chien-Chih Weng, Mansour Karkoub, Hsuan-Yi Chen, Wen-Shyong, and Ming-Guo Her,
Trajectory Tracking Control for Rotary Drilling Systems via Integral Sliding Mode Control
Approach, Submitted to IEEE Transactions on Fuzzy Systems