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Full-Text Articles in Applied Mechanics
Inter-Row Robot Navigation Using 1d Ranging Sensors, Tyler A. Troyer, Santosh Pitla, Ethan Nutter
Inter-Row Robot Navigation Using 1d Ranging Sensors, Tyler A. Troyer, Santosh Pitla, Ethan Nutter
Department of Biological Systems Engineering: Papers and Publications
In this paper a fuzzy logic navigation controller for an inter-row agricultural robot is developed and evaluated in laboratory settings. The controller receives input from one-dimensional (1D) ranging sensors on the robotic platform, and operated on ten fuzzy rules for basic row-following behavior. The control system was implemented on basic hardware for proof of concept and operated on a commonly available microcontroller development platform and open source software libraries. The robot platform used for experimentation was a small tracked vehicle with differential steering control. Fuzzy inferencing and defuzzification, step response and cross track error were obtained from the test conducted …
Stochastic Optimal Control In Nonlinear Systems, Celestin Nkundineza
Stochastic Optimal Control In Nonlinear Systems, Celestin Nkundineza
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Stochastic control is an important area of research in engineering systems that undergo disturbances. Controlling individual states in such systems is critical. The present investigation is concerned with the application of the stochastic optimal control strategy developed by To (2010) and its implementation as well as providing computed results of linear and nonlinear systems under stationary and nonstationary random excitations. In the strategy the feedback matrix is designed based on the achievement of the objectives for individual states in the system through the application of the Lyapunov equation for the system. Each diagonal element in the gain or associated gain …