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In this paper, we present a robust recursive filtering algorithm for discrete time-varying systems with sensor failures and uncertain parameters in their state space models. The exiting results are generalized to the case where each sensor may fail at any sample time independently of the others. For robust performance, stochastic parameter uncertainties are included in the system matrix. The design...
Uncertainty almost exists in the measurements of sensors because of the influence of environment and communication. The uncertainties can be reflected in the loss of measurement data and in the unknown disturbance added on the sensor measurements. In this paper, a linear unbiased minimum variance state filter is designed for discrete-time linear stochastic systems with data loss and unknown disturbance,...
This paper studies the state estimation problem for linear discrete-time systems based on the minimum mean square error (MMSE) criterion. Under the Gaussian assumption on the predicted density, the quantized MMSE filter is derived which has a similar form as the Kalman filter with the raw measurement simply replaced by its quantized version. The quantization effects are explicitly quantified by adding...
The robust sliding mode control for Markov jump systems with parameter uncertainties and an unknown nonlinear function is discussed. Based on a descriptor system approach and linear matrix inequality (LMI), a sufficient condition which guarantees the existence of linear switching surface and the stochastic stability of sliding mode dynamics is given. A sliding mode controller is designed such that...
This paper is concerned with the robust Hinfin filtering problem for a class of uncertain nonlinear networked systems with both multiple stochastic time-varying communication delays and multiple packet dropouts. The discrete-time system under consideration is also subject to parameter uncertainties, state-dependent stochastic disturbances and sector-bounded nonlinearities. Sufficient conditions are...
This paper studies the Hinfin filtering problem for a class of discrete-time network-based systems with communication constraints and packet dropouts. The plant has multiple sensor nodes and only one of them is allowed to communicate with the filter at each transmission instant, and the packet dropouts occur randomly. The filtering error system is modeled as a switched system with a stochastic parameter...
In this paper, we deal with the problem of quantized control strategy design for a class of discrete time Markovian jump linear systems with limited communication capacity. We generalize the static Quantizer design method of Elia and Mitter to stochastic system with Markovian jump parameter. The concept of mode-dependent logarithmic quantizer is presented firstly in this paper, which is employed to...
The problem of joint input and state estimation is addressed in this paper for linear discrete-time stochastic systems without direct feedthrough from unknown inputs to outputs. With the weighted least squares estimation for an extended state vector including unknown inputs and states, a recursive filter approach referred to as Kalman filter with unknown inputs without direct feedthrough (KF-UI-WDF)...
This paper deals with the problem of dissipative control for a class of Ito-type stochastic systems with time varying delays. We consider the design of a state-feedback dissipative controller based on Lyapunov-Krasovskii functional approach such that the closed-loop systems is exponentially stable in the mean square and strictly (Q, S,R)-dissipative. The sufficient conditions are obtained by using...
This paper investigates stability analysis for linear systems with Markovian jumping parameters and state delays. Based on delay subinterval decomposition approach, a new Lyapunov-Krasovskii functional is proposed to develop the delay-dependent stochastic stability conditions for both nominal and uncertain time-delay Markovian systems. The results are formulated in terms of linear matrix inequalities...
This paper is concerned with designing a fuzzy dynamic feedback controller for Takagi-Sugeno (T-S) model nonlinear stochastic systems with time delay. The slack matrix method is utilized to derive a delay-dependent sufficient condition that warrants the mean-square asymptotic stability with an Lscr2-Lscrinfin performance for the resulting closed-loop system. Moreover, the solvability condition for...
This paper is concerned with the variance-constrained controller design problem for a class of uncertain nonlinear stochastic systems with possible actuator faults. The stochastic nonlinearities described by statistical means are quite general that include several well-studied classes of nonlinearities as special cases. A model of actuator failures is adopted which is more practical than the traditional...
In this paper, we propose a behavior selection scheme between a reactive motion control combined with a global path planning algorithm and combined with a trajectory tracking algorithm. We design two navigation behaviors. One is a plan-based reactive navigation behavior, the AutoMovereactive, which exploits the conventional Dynamic Window Approach (DWA) as the reactive motion controller. The other...
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