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This paper addresses the problem of controller design for 2-D singular Roesser models. Sufficient stability conditions are formulated in terms of strict linear matrix inequalities (LMIs) for 2-D singular systems described by the Roesser models. Then a set of sufficient conditions for existence of desired a state feedback controller are obtained. Numerical example is provided to demonstrate the effectiveness...
The motivation for assessing closed-loop performance was to evaluate the effect of the controller on the output variation of linear systems. Far less has been written on assessing the multivariate noise case for nonlinear dynamic systems. In this paper, we develop a strategy to quantify the effects of different types of noise on nonlinear dynamic systems using an ANOVA-like decomposition method. We...
Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning this paper develops and experimentally verifies dynamic models of a skid-steered wheeled vehicle for general...
This paper presents a new approach to the design of a generic two-input-single-output (TISO) fuzzy logic controller for a class of uncertain nonlinear systems. Firstly, A new variable structure control scheme achieving uniform ultimate boundedness of the closed-loop system is established as a supervisory control for a generalized PD-type TISO fuzzy controller. The fuzzy controller is then constructed...
This paper presents a new approach to the design of a fuzzy logic control scheme for a general class of nonlinear systems. For practical consideration, we firstly define two generalized errors as inputs to form a novel two-input single-output fuzzy PD controller. Then, a supervisor is incorporated into the control scheme to help achieve its closed-loop stability. The supervisor is derived based on...
In this paper, we develop a state feedback control scheme based on alphabeta filter for controlling the magnetic levitation system CE152. Unlike the observer-based control scheme which employs the system dynamics to form the state estimator, the proposed alphabetagamma filter estimate the corresponding states based-on a Newtonian system. According to the alphabeta filter, we not only can estimate...
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