4 papers indexed
Gabriel da Silva Lima, Tomi Westerlund, Wallace Moreira Bessa
Addressing the control and maneuverability of surface vehicles with dynamically changing mass distributions is still an open problem. To solve the problem, we propose an intelligent controller for the path-following problem of a surface vehicle, which is controlled through mass d…
Kimmo Paldanius, Gabriel Da Silva Lima, Wallace Moreira Bessa
This paper presents an intelligent control framework for trajectory tracking of robotic manipulators using radial basis function (RBF) neural networks for online disturbance estimation. The proposed control structure combines model-based nonlinear control with an adaptive neural…
Gabriel da Silva Lima, Wallace Moreira Bessa
This paper presents a learning-based control framework that integrates feedback linearization with reinforcement learning for the adaptive control of nonlinear mechatronic systems. The control law is derived using Lyapunov stability analysis, ensuring closed-loop stability in the…
Amos Alwala, Gabriel da Silva Lima, Wallace Moreira Bessa
The control of agile quadrotors in dynamic and uncertain environments remains an open area of investigation to this day, particularly when the complete system dynamics are partially known or highly nonlinear. This work introduces a novel machine learning-based feedback-linearizat…