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.

The integration of Internet of Things (IoT) technology has profoundly transformed urban life, particularly in the realm of parking management. Smart parking systems harness the capabilities of IoT to optimize parking space utilization, alleviate congestion, and elevate user experience. This chapter delves into the intricate process of data collection within IoT-enabled smart parking environments, with a specific emphasis on the seamless integration of machine learning and artificial intelligence (AI) techniques. By conducting a comprehensive analysis of various data sources, machine learning algorithms, and AI technologies, this chapter elucidates how smart parking systems leverage intelligent data collection and analysis to enhance operational efficiency and effectiveness. Through the convergence of IoT, machine learning, and AI, smart parking systems are poised to revolutionize urban mobility and drive sustainable urban development.

This paper aims to create an innovative approach to improving IoT-based smart parking systems by integrating machine learning (ML) and Artificial Intelligence (AI) with mathematical approaches in order to increase the accuracy of the parking availability predictions. Three regression-based ML models, random forest, gradient boosting, and LightGBM, were developed and their predictive capability was compared using data collected from three parking locations in Skopje, North Macedonia from 2019 to 2021. The main novelty of this study is based on the use of autoregressive modeling strategies with lagged features and Z-score normalization to improve the accuracy of regression-based time series forecasts. Bayesian optimization was chosen for its ability to efficiently explore the hyperparameter space while minimizing RMSE. The lagged features were able to capture the temporal dependencies more effectively than the other models, resulting in lower RMSE values. The LightGBM model with lagged data produced an R² of 0.9742 and an RMSE of 0.1580, making it the best model for time series prediction. Furthermore, an IoT-based system architecture was also developed and deployed which included real-time data collection from sensors placed at the entry and exit of the parking lots and from individual slots. The integration of ML, AI, and IoT technologies improves the efficiency of the parking management system, reduces traffic congestion and, most importantly, offers a scalable approach to the development of urban mobility solutions.

This paper examines the impact of symmetry and asymmetry on the dynamic modeling and nonlinear control of a mobile robot with Ackermann steering geometry. A neural network-based residual model is incorporated as a novel control enhancement. This study presents a control-oriented formulation that addresses both idealized symmetric dynamics and real-world asymmetric behaviors caused by actuator imperfections, tire slip, and environmental variability. Using the Euler–Lagrange formalism, the robot’s dynamic equations are derived, and a modular simulation framework is implemented in MATLAB/Simulink R2022a, that incorporates distinct steering and propulsion subsystems. Symmetric elements, such as the structure of the inertia matrix and kinematic constraints, are contrasted with asymmetries introduced through actuator lag, unequal tire stiffness, and nonlinear friction. A residual neural network term is introduced to capture unmodeled dynamics and improve the robustness. The simulation results show that the control strategy, originally developed under symmetric assumptions, remains effective when adapted to systems exhibiting asymmetry, such as actuator delays and tire slip. Explicitly modeling these asymmetries enhances the precision of trajectory tracking and the overall system robustness, particularly in scenarios involving varied terrain and obstacle-rich environments.