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In this paper, a sensor fusion scheme is employed to reduce positioning error of a vehicle since the GPS signal is fail. The vehicular information, such as position, heading direction, and velocity, can be obtained through GPS signal. Generally, the positioning accuracy of commercial GPS module is within the 3 meters, however, the GPS module may disconnect the signals from satellites since the vehicle...
In this paper, a novel model following method based on sum of squares technique is proposed. The explicit model following (EMF) method had been developed more than three decades. However, the linearized mechanism and choice of LQ weighting matrices lead the controller into local optimum. Based on the model following schematism, a Lyapunov direct method is employed to stabilize the physical system...
The paper presents results on stability analysis and controller synthesis of Takagi-Sugeno (T-S) fuzzy systems. A T-S fuzzy model is known to be usable in modeling and control of a wide range of nonlinear systems. In the paper, the multiple Lyapunov functions method is applied to formulate a sufficient condition for the stability of a T-S fuzzy system. Unlike previous approaches, the paper adopts...
The paper presents a guidance and control design approach for a GPS-based unmanned vehicle. This unmanned vehicle is equipped with a GPS module to receive the signal for localization. The purpose is to guide the unmanned vehicle to travel on a desired path. By extracting the attitude of the nominal vehicle, a fuzzy gain-scheduling methodology is employed to coordinate the three different operation...
This paper presents a backstepping control method using sum of squares (SOS) technique to synthesize a nonlinear controller for a three wheels omni-directional mobile robot. The characteristic of strict-feedback systems is also applied to construct the backstepping controller. The controller design satisfies the Lyapunov direct method and LaSalle-Yoshizawa theorem so that the stability of control...
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