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This paper presents a robust control scheme for the tracking control of singularly perturbed uncertain systems. The design problem is divided into two parts: tracking the reference trajectory and enhancing the robustness of the dynamic systems. By using the time-scale techniques, dynamic inversion approach and linear parameter-varying methods, a set of singularly perturbed state feedback controllers...
The development of a city gradually fosters different functional regions, and between these regions there exists different social information due to human activities. In this paper, a Region Activation Entropy Model (RAEM) is proposed to discover the social relations hidden between the regions. Specifically we segment a city into coherent regions according the base station (BS) position and detect...
Biped robots can extremely extend the range of robot applications for its fast locomotion ability and good adaptation for complicated environments. It has been a great endeavor for gait planning and locomotion control of biped robot due to its complex mechanical structure with multiple DoFs and strong coupling multi-link mechanism. In this paper, a general scheme that combines Capture Points Theory...
two manipulators rigidly handling a flexible payload to track a predefined trajectory. The control law provides robustness against model parameters uncertainties and external disturbances. To suppress the elastic vibration, an adaptive optimal controller is designed. Implicit proof of the system stability is provided via Lyapunov Stability Theory. Finally, the cooperating control input is shown through...
The monitoring equipment of forest fire prevention usually needs all-weather supply of electric power. But most of solar power systems applied in forest fire prevention use fixed-mounted solar panels. This problem results in low efficiency of electricity generation. Thus the area of solar panels has to increase to meet electricity demand of the equipment. An all-weather automatic solar tracking method...
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