https://yihu551.github.io/tag/controltheory.htmlControlTheoryWowchemy (https://wowchemy.com)en-usSun, 14 Sep 2025 00:00:00 +0000https://yihu551.github.io/media/icon_y_hu6062576646913215646.pnghttps://yihu551.github.io/tag/controltheory.htmlhttps://yihu551.github.io/news/modelling.htmlSun, 14 Sep 2025 00:00:00 +0000https://yihu551.github.io/news/modelling.html <figure id="figure-control-framework-for-input-saturation-and-unknown-external-disturbance"> <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="Control framework for input saturation and unknown external disturbance" srcset=" /news/modelling/image1_hu14371131613490829060.webp 400w, /news/modelling/image1_hu11237530000312831754.webp 760w, /news/modelling/image1_hu18287641929301003889.webp 1200w" src="../../news/modelling/image1_hu14371131613490829060.webp" width="760" height="644" loading="lazy" data-zoomable /></div> </div><figcaption> Control framework for input saturation and unknown external disturbance </figcaption></figure> <p>We built the dynamics and kinematics modeling for wheeled mobile robot.</p> <p>Please find the detail from <a href="https://ieeexplore.ieee.org/abstract/document/9050868" target="_blank" rel="noopener">Modeling and Trajectory Tracking Control for Magnetic Wheeled Mobile Robots Based on Improved Dual-Heuristic Dynamic Programming</a></p>https://yihu551.github.io/news/ndob.htmlFri, 12 Sep 2025 00:00:00 +0000https://yihu551.github.io/news/ndob.html<!-- Research associate on the MicroSep project since September 2025. --> <figure id="figure-control-framework-for-input-saturation-and-unknown-external-disturbance"> <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="Control framework for input saturation and unknown external disturbance" srcset=" /news/ndob/image1_hu1177415499055688789.webp 400w, /news/ndob/image1_hu10386689168913596972.webp 760w, /news/ndob/image1_hu17039649935912892048.webp 1200w" src="../../news/ndob/image1_hu1177415499055688789.webp" width="760" height="595" loading="lazy" data-zoomable /></div> </div><figcaption> Control framework for input saturation and unknown external disturbance </figcaption></figure> <p>We address the actuator saturation and unknown nonlinear disturbance in flexible-joint manipulator.</p> <p>Please find the detail from <a href="https://www.sciencedirect.com/science/article/pii/S0925231220320397" target="_blank" rel="noopener">Observer-based dynamic surface control for flexible-joint manipulator system with input saturation and unknown disturbance using type-2 fuzzy neural network</a></p>https://yihu551.github.io/news/datadriven.htmlFri, 12 Sep 2025 00:00:00 +0000https://yihu551.github.io/news/datadriven.html <figure id="figure-data-driven-generalized-predictive-control-workflow"> <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="Data-driven generalized predictive control workflow" srcset=" /news/datadriven/image1_hu10742334941215721401.webp 400w, /news/datadriven/image1_hu4982206892059722868.webp 760w, /news/datadriven/image1_hu37433726663607701.webp 1200w" src="../../news/datadriven/image1_hu10742334941215721401.webp" width="760" height="366" loading="lazy" data-zoomable /></div> </div><figcaption> Data-driven generalized predictive control workflow </figcaption></figure> <!-- Research associate on the MicroSep project since September 2025. --> <p>We design a Data-driven generalized predictive control for car-like mobile robots.</p> <p>Please find the detail from <a href="https://onlinelibrary.wiley.com/doi/am-pdf/10.1002/asjc.2531" target="_blank" rel="noopener">Data-driven generalized predictive control for car-like mobile robots using interval type-2 T-S fuzzy neural network</a></p>https://yihu551.github.io/news/doubleclosedloop.htmlThu, 11 Sep 2025 00:00:00 +0000https://yihu551.github.io/news/doubleclosedloop.html <figure id="figure-structure-diagram-of-double-closed-loop-control"> <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="Structure diagram of double closed-loop control" srcset=" /news/doubleclosedloop/image1_hu86383471932219743.webp 400w, /news/doubleclosedloop/image1_hu17397343891470684076.webp 760w, /news/doubleclosedloop/image1_hu14672081481191907467.webp 1200w" src="../../news/doubleclosedloop/image1_hu86383471932219743.webp" width="760" height="396" loading="lazy" data-zoomable /></div> </div><figcaption> Structure diagram of double closed-loop control </figcaption></figure> <!-- Research associate on the MicroSep project since September 2025. --> <p>We design a double closed-loop general Type-2 fuzzy sliding model control for wheeled mobile robots.</p> <p>Please find the detail from <a href="https://link.springer.com/article/10.1007/s40815-019-00685-z" target="_blank" rel="noopener">Double Closed-Loop General Type-2 Fuzzy Sliding Model Control for Trajectory Tracking of Wheeled Mobile Robots</a></p>https://yihu551.github.io/news/fuzzycontrol.htmlWed, 10 Sep 2025 00:00:00 +0000https://yihu551.github.io/news/fuzzycontrol.html <figure id="figure-fuzzy-neural-network-approximator"> <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="Fuzzy neural network approximator" srcset=" /news/fuzzycontrol/image1_hu10245264789597362618.webp 400w, /news/fuzzycontrol/image1_hu15455356628452008594.webp 760w, /news/fuzzycontrol/image1_hu7006086746353272909.webp 1200w" src="../../news/fuzzycontrol/image1_hu10245264789597362618.webp" width="760" height="538" loading="lazy" data-zoomable /></div> </div><figcaption> Fuzzy neural network approximator </figcaption></figure> <!-- Research associate on the MicroSep project since September 2025. --> <p>We design an adaptive type-2 fuzzy neural network approximator for mismatched uncertainties in joint manipulator.</p> <p>Please find the detail from <a href="https://link.springer.com/article/10.1007/s11071-019-05073-8" target="_blank" rel="noopener">Adaptive backstepping control for flexible-joint manipulator using interval type-2 fuzzy neural network approximator</a></p>https://yihu551.github.io/news/admittance.htmlThu, 28 Aug 2025 00:00:00 +0000https://yihu551.github.io/news/admittance.html <video autoplay loop > <source src="../../news/admittance/admittance.mp4" type="video/mp4"> </video> <!-- Research associate on the MicroSep project since September 2025. --> <p>We utilize admittance controller for human-robot compliance interaction, especially for collecting breast seroma ultrasound scanning dataset.</p>