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The paper presents two robust and efficient control algorithms based on (i) Optimal Control Allocation (OCA) and (ii) Nonlinear Model Predictive Control (NMPC). The robotics system consists of two rovers with mecanum wheels and mounted two 7-DOF arms carrying a common load. The overall system is an underdetermined one with non-holonomic constraints. The developed control…

Current work demonstrates how open-source optimization library ”Extremum” (OSOL Extremum) can be used to build feedback controller of a satellite. Proposed software was developed to as an attempt to eliminate current problems that are present in scientific area: black-box effect (i.e. there is no opportunity to explore source code, modify it, or simply verify), no…

For mission-critical and time-sensitive navigation of autonomous vehicles, controller design must exhibit excellent tracking performance with respect to the speed of convergence to reference command and steady-state accuracy. In this article, a novel design integration of the neural network with the traditional control system is proposed to adaptively obtain optimized controller parameters resulting in improved…

The axial flux permanent magnet synchronous motor (AFPM motor) using magnet bearings instead of ball-bearings at both two shaft ends could allow rotational speed of shaft much greater than nominal speed. One of the solutions to increase motor speed higher than its nameplate speed is reducing rotor’s pole magnetic flux of rotor (Yp). This paper…

Extreme Learning Machine (ELM) is a high effective learning algorithm for the single hidden layer feed forward neural networks. Compared with the existing neural network learning algorithm it solves the slow training speed and over-fitting problems. It has been used in different fields and applications such as biomedical engineering, computer vision, remote sensing, chemical process…