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This paper describes the model reduction framework for single-input single-output (SISO) discrete-time systems based on the preservation parameters such as Markov properties of the original system by applying a Frequency-Limited Impulse Response Gramian based Balanced Truncation method. This proposed method extends the Frequency-Limited Impulse Response Gramians model reduction method for continuous...
This paper studies the problem of designing fault-tolerant adaptive tracking controllers via state feedback for linear time invariant plants with lock-in-place (LIP) actuator failures, In the case of LIP failure the actuator "freezes" at a certain condition and does not respond to subsequent commands. A new direct adaptive state feedback control scheme to developed for compensate the LIP...
A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the...
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