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This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of closed-loop...
This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by linear terms and high order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together...
Simultaneous localization and mapping (SLAM) is a necessary prerequisite to make mobile vehicle truly autonomous, which is a hot research topic today. FastSLAM as a successful SLAM method abstracts many researchers' attentions. FastSLAM factors the SLAM problem into a localization problem and a mapping problem in which the landmark position is estimated by EKF. A modified FastSLAM is presented for...
The performance of control system is considered for the finite time convergence control and time-optimal control. The solving method and the robustness are analyzed for the finite time convergence control system and time optimal control system. The approximate solution of the time optimal control is investigated by using finite time convergence control and choosing adequate controller parameters....
This paper deals with the output feedback stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances. The objective is to design the almost global asymptotical output feedback controllers in probability for the systems by output feedback. The switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic...
The era of a world connected by networks, especially by Internet, has imposed new challenges to control theory and application. The original method of modeling of a network control system as continuous - discrete with random structure is presented in the article. The method allows taking into account stochastic character of data transfer via channel, to determine the areas of stability of control...
The exponential stability is investigated for a class of continuous time linear systems with a finite state Markov chain form process and the impulsive jump at switching moments. The conditions, based on the average dwell time and the ratio of expectation of the total time running on all unstable subsystems to the expectation of the total time running on all stable subsystems, assure the exponential...
The stability and stabilization of linear continuous time singular Markov switched systems with time delay are investigated. Based on the linear matrix inequality method (LMIs), the robust stability of uncertain linear stochastic delay system is guaranteed irrespective of the value of the time delay. Then the proposed theory can be extended to discuss the robust stabilization of uncertain stochastic...
The problem of the finite time tracking controller design is considered for a class of permanent-magnet synchronous motor. During the control process, the first phase is to induce the system state into a prescribed state (or region) under the current control law by using the relay switching control; the second phase is to switch to a terminal sliding mode control such that system state reaches the...
This paper deals with the stabilization problem of the nonholonomic systems with strongly nonlinear uncertainties and unknown parameters. The purpose is to design a nonlinear output feedback switching controller such that closed loop system is globally asymptotically stable. In order to make the state scaling effective, the switching control strategy based on the output measurement of the first subsystem...
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