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The backward motion control problem for the mobile robot with two off-axle hitching trailers is firstly addressed in this paper. For the kinematic model of this system can not be transformed to chained form or power form due to the complexity added by the off-hitching connection, the motion problem of this kind of system is known as difficult. This paper proposes a new approach to stably reverse a...
The notions of the (uniformly) practical stability (unstability) in the pth mean are introduced for stochastic systems. For switched stochastic systems, some sufficient conditions on such practical properties are obtained by using the classical Lyapunov theory. Particularly, for switched linear stochastic systems, a sufficient condition on practical stability in the 2th mean is obtained.
In this paper, adaptive asymptotic stabilization of angular velocities of a rigid body with two controls is investigated, to provide a solution to such a problem and to give a study of certainty equivalence adaptive control. A control scheme, which leads to asymptotic velocity regulation to zero, is made adaptive, based on the certainty equivalence principle, to handle parameter uncertainties. Such...
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