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In nature, animal groups achieve robustness and scalability with each individual executes a simple and adaptive strategy. Inspired by this phenomenon, we propose a decentralized control framework for modular robots to achieve coordinated and self-adaptive tasks with each modules performs simple distributed sensing and actuation. In this demonstration, we show that such a framework allows several different...
The decentralized robust servomechanism problem (DRSP) for large flexible space structures (LFSS) under sensor and actuator failures is considered. Failure conditions are modelled by failure matrices. This permits a unified treatment of sensor and actuator failures. For colocated LFSS, stabilization, tracking of constant set points, and regulating constant disturbances can be simultaneously handled...
This paper develops robust Hinfin fuzzy hyperbolic control for nonlinear large-scale systems with parameter uncertainties. Firstly, fuzzy hyperbolic model (FHM) can be used to establish the model for certain complex large-scale systems, then according to the Lyapunov direct method and the decentralized control theory of large-scale systems, the sufficient condition in the terms of linear matrix inequalities...
The problem of robust decentralized reliable Hinfin control is investigated for nonlinear uncertain interconnected systems with state time-varying delays. By conducting proper Lyapunov universal function, we present a group of linear matrix inequality(lIMs) which have the solution as sufficient conditions to stabilize the closed-loop system asymptotically and have the Hinfin property, giving the condition...
A method of friction compensation based on a twin drive system is discussed in the paper. The twin drive system in composed of two motors connected by a differential mechanism. Then the generated torque of the system is the torque difference between two motors. Also these motors are continuously driven to reduce the influence of static friction in each motor even if the system has a stationary motion...
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