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Robust finite-time (FT) stabilization of uncertain continuous-time singular systems is of concern in this paper. By adopting a Lyapunov-like functional (LLF) and the finite-time stability (FTS) technique, the linear matrix inequality (LMI)-based conditions are derived for uncertain continuous-time singular systems to be stabilizable. Then, based on solving these LMIs, a FT H-infinite state feedback...
We study average consensus for directed graphs with quantized communication. In the presence of quantization errors, average consensus cannot be accurately reached. We develop robust consensus algorithms to reduce the effect of quantization. Linear matrix inequalities are used as design tools. Numerical results demonstrate the effectiveness of this method.
In this paper, we study the distributed robust consensus for uncertain double integrators on the directed communication topologies. Using the backstepping technique, we construct a control Lyapunov function for the nominal double integrator consensus design. In the presence of model uncertainties, we develop a distributed robust redesign under the assumption that the uncertainty in each agent dynamics...
We study the multi-robot synchronization on a segment. The goal is for each robot to move along a subsegment of equal length in equal time interval with potential impacts. To achieve the synchronization, we propose a decentralized algorithm by designing impact law, which does not depend on the position of the robot, but on the time information. Specifically, ??the time interval between two consecutive...
In the project Autonomous City Explorer, an interactive robot is designed to find its way to a given destination in unknown urban environments by interacting with pedestrians. Considering applications in a human dominated environment, the robot can be sent to a destination by tracking a landmark selected by users and described by 2D image features. To achieve a natural landmark selection from the...
Due to long calculation time and slow convergence speed, ant colony system (ACS) cannot be used directly in wireless sensor networks (WSN). In this paper, we present an improved ACS algorithm based on Altitude Information (AI) and Ant Withdrawal (AW), named ACSA (an improved ACS algorithm with AI). The concept of AI is defined, and the design philosophy, algorithm realization and performance simulation...
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