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We address the problem of environmental contour line tracking for a class of autonomous vehicles. A reference velocity is designed for the autonomous vehicles to do contour line tracking. Based on Lashall invariance principle, an ideal controller is designed for the vehicle with ideal model and ideal information about the environmental concentration function to track the desired contour line. For...
In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
The problem of robust fault-tolerant control for the uncertain time-delay system was investigated by utilizing the fuzzy control method. Constructing T-S model and introducing parametric uncertainty and time-delay terms for the systems, there made the fuzzy model approach to the original system more exactly. Based on T-S Fuzzy Model, Lyapunov stability theory and Linear Matrix Inequality (LMI), a...
This paper investigates the stability and control of some input-delayed switched systems while delays contain constant delays and time-varying delays. Based on the reduction method, Lyapunov stability theory and LMI approach, a state feedback controller, a switching strategy and the stabilization conditions of the system are proposed. Finally, we use a simple model to proof that the controller using...
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