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This paper focuses on the problem of robust fault-tolerant control for uncertain linear discrete systems with time-delay. On the basis of Lyapunov theory, it is found that a controller based on a kind of memory feed-back control law can keep the uncertainty systempsilas integrity against the actuator failures, and make use of the LMI toolbox in Matlab, we can get the parameters of the controller....
Based on a regular, impulse-free and linear time-invariant singular controlled plant, the problem of output feedback control for a class of networked control systems with uncertain time-delay is studied. For uncertain time-delay less than or equal to one sampling period, choosing a dynamical output feedback controller, the networked control system is modeled as a linear time-variant normal system...
This paper presents a novel adaptive controller for image-based visual servoing of robots with an eye-in-hand camera using angle and distance features. The key idea lies in the development of the depth-independent interaction matrix and the proposal of an adaptive algorithm for estimating the unknown geometric parameters of the features in the 3-D space. The Lyapunov theory is used to prove the asymptotic...
A robust adaptive controller was developed in this paper, since the conventional adaptive robust controller cannot be directly applied on the nonlinear non minimum-phase system. An appropriate coordinate transformation was given to transform the uncertain nonlinear system with unstable zero-dynamics into an equivalent system whose zero-dynamics is stable. Considering unknown parameter and uncertainty,...
The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following. A class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision...
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