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Both Takagi-Sugeno and polynomial fuzzy model use the well-known quadratic Lyapunov function as a platform to derive stability analysis and control design conditions. However, stability and stabilization conditions based on quadratic Lyapunov function are mainly conservative. This paper presents a line-integral fuzzy Lyapunov function based stability conditions for polynomial fuzzy systems. In order...
This paper presents a stability analysis of polynomial fuzzy systems by applying a piecewise-polynomial-Lyapunov function approach. Polynomial fuzzy system is a general form of the well-known T-S fuzzy system. The stabilization conditions of polynomial fuzzy system are derived based on the Lyapunov stability theory that are represented in terms of sum-of-squares (SOS) and solved by utilizing the SOSOPT...
We extend the guided-mode extracted integral equation for three-dimensional hollow waveguides to the magnetic field integral equation. Applying the method of moments into the magnetic field integral equation, the number of equations is less than that of unknowns. In order to obtain another equations, we also derive the auxiliary equation.
We discuss guided-mode extracted integral equation for three-dimensional waveguides, which is based on electric field integral equation. We discuss the characteristics of the guided-mode extracted integral equation, especially the auxiliary equation.
In this chapter, fuzzy modeling techniques based on Takagi-Sugeno (TS) fuzzy model are first proposed to model chaotic systems; then, a unified approach is presented for stabilization, synchronization, and chaotic model following control for the chaotic TS fuzzy systems using linear matrix inequality (LMI) technique; finally, illustrative examples are presented.
Infectious diseases accounted for 56% of the total mortality of children under five years of age worldwide in 2004. Diarrheal diseases accounted for a relatively high 17% of these diseases, thus, becoming a serious problem. In fact, a great number of people have been infected by microorganisms, such as E.coli O157, Shigella sp., Salmonella sp., and Vibrio cholerae. In particular, rotavirus infects...
It is a great pleasure to present Current Topics of Infectious Diseases in Japan and Asia. This is a memorable scienti? c publication for Showa University, prepared in conjunction with the 6th Annual Meeting, Showa International Symposium for Life Sciences, held at the university in 2009. This symposium was supported in part by Grants for the Pro- tion of the Advancement of Education and Research...
This paper presents a sequential stair climbing method for an articulated mobile robot. The robot has active wheeled links connected by active rotational joints. In the method, some parts of the robot's body defined as a connecting part are used to step over risers in stairs, and the robot climbs up stairs by shifting the connecting parts from forward to backward. A condition on which the robot can...
This paper presents a novel method for stabilization analysis of the single-input polynomial fuzzy systems using a sum of squares (SOS) approach to construct control Lyapunov functions (CLFs) for the systems. First, we represent a nonlinear system as a polynomial fuzzy system. Then, sufficient conditions in SOS terms for a positive definite function to become a CLF is presented. We solve the sufficient...
This paper presents a sum-of-squares (SOS) based methodology to obtain inner bounds on the region-of-attraction (ROA) for nonlinear systems represented by polynomial fuzzy systems. The methodology searches a polynomial Lyapunov function to guarantee the local stability and the invariant subset of the ROA is presented as the level set of the polynomial Lyapunov function. At first the methodology checks...
This paper presents a practical design approach to automatic model construction and controller design for the F16 aircraft. The automatic model construction and controller design are realized using the framework of a Takagi-Sugeno (T-S) fuzzy modeling and control. Any trimmed equilibriums in addition to the complicated dynamics describing in an F16 aircraft simulator are considered and automatically...
This paper presents a nonconvex criterion represented in terms of bilinear sum of squares (SOS) conditions for the stabilization of polynomial fuzzy systems. In the existing literature dealing with the stabilization of polynomial fuzzy control systems, the construction of Lyapunov function candidates is restricted in order to transform the nonconvex SOS conditions into convex SOS conditions. Moreover,...
This paper proposes two stability criteria for polynomial fuzzy systems by applying minimum-type and maximum-type piecewise polynomial Lyapunov functions (PPLFs) respectively. Piecewise Lyapunov functions and polynomial Lyapunov functions (PLFs) have been utilized to the stability analysis for fuzzy-model-based (FMB) control systems to obtain relaxed results in literature. However, the minimum-type...
This paper proposes a snake robot control method for climbing and descending a step. On a multi-plane step environment, it is necessary for locomotion to transfer from one plane to another. A snake robot can move with touching several planes as its body is long and thin. In this paper, we propose a control method for accomplishing trajectory tracking of a snake robot on a step environment. The control...
The problem of electromagnetic scattering from multiple objects includes many important applications, such as frequency selective surface, electromagnetic bandgap structure, photonic crystal structure, metamaterial structure, and so on. These structures are composed of small objects periodically arranged in two-dimension or three-dimension. Another example is electromagnetic scattering by raindrops...
This paper presents development of an autonomous flying robot (unmanned aerial vehicle) and its verification via flight control experiment. The autonomous flying robot has a global positioning system (GPS) sensor to control its altitude and also a wireless camera to gather visual information from the air. First, we construct a longitudinal model of the autonomous flying robot to design a stable controller...
Polyhedral Lyapunov functions (PLFs) are universal for establishing stability of Takagi-Sugeno (T-S) fuzzy models. In this paper, a stability theorem via PLFs is presented for T-S models, and it is shown that stability can be established via linear programming. Furthermore, nonconvex stabilization conditions are stated that, if satisfied, specify a parallel distributed compensation (PDC) controller...
Interferences among enhanced local optical fields generated by a plasmonic metal-coated conical dielectric probe with a nano-rod are investigated numerically. The dark spots that are interference patterns among plasmon-enhanced local fields are investigated in detail. It is found that two kinds of interference patterns (dark spots) are created in the free space in the vicinity of the nano-rod. One...
We apply the superposition solution combined with the method of moments into electromagnetic scattering problem from multiple objects. We compare our numerical results with those by the standard method of moments. We show that our results agree with the standard method of moments for some cases, but disagree for other cases.
This paper presents hovering control of an indoor micro helicopter only using single visual sensor feedback. The control technique is based on the parallel tracking and mapping (PTAM), a kind of visual simultaneous localization and mapping, using a small single wireless camera on the helicopter. The six degree of freedom of the helicopter is detected via the PTAM. The nonlinear dynamics of the helicopter...
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