Nonlinear Dynamics and Machine Learning for Robotic Control Systems in IoT Applications

Vesna Antoska Knights, Olivera Petrovska, Jasenka Gajdoš Kljusurić

This paper presents a novel approach to robotic control by integrating nonlinear dynamics with machine learning (ML) in an Internet of Things (IoT) framework. This study addresses the increasing need for adaptable, real-time control systems capable of handling complex, nonlinear dynamic environments and the importance of machine learning. The proposed hybrid control system is designed for a 20 degrees of freedom (DOFs) robotic platform, combining traditional nonlinear control methods with machine learning models to predict and optimize robotic movements. The machine learning models, including neural networks, are trained using historical data and real-time sensor inputs to dynamically adjust the control parameters. Through simulations, the system demonstrated improved accuracy in trajectory tracking and adaptability, particularly in nonlinear and time-varying environments. The results show that combining traditional control strategies with machine learning significantly enhances the robot’s performance in real-world scenarios. This work offers a foundation for future research into intelligent control systems, with broader implications for industrial applications where precision and adaptability are critical.