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A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. The coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel...
Motion coordination of autonomous vehicles has applications from target surveillance to climate monitoring. Previous research has yielded stabilizing control laws for a self-propelled-vehicle model with first-order rotational dynamics; however, this model may not adequately describe the rotational dynamics of vehicles in the atmosphere or ocean. This paper describes the design of backstepping algorithms...
The idea of controlling and synchronizing chaotic systems refers to a process where in two or many chaotic systems starting from different initial conditions adjust a given property of their motion to a common behaviors. In this paper, the stable tracking control of continuous chaotic systems are studied and a new control method is proposed. Based on Lyapunov stability theory, an adaptive controller...
This paper addresses the problem of designing distributed feedback laws to fore the outputs of mobile robots to follow geometric paths while holding a desired formation pattern. The solution to formation problem, unfolds in two basic parts. Firstly, a path following control law based on Lyapunov and backstepping is designed out to drive each robot to its desired path regardless of the temporal speed...
A speed synchronization scheme for multi induction motors is developed, by incorporating total sliding mode control into adjacent cross-coupling control architecture. The presented control scheme comprises two parts: tracking error controller and synchronization error controller. The proposed control strategy is to stabilize speed tracking of each induction motor while synchronizing its speed with...
In this study, the secure communication application of switched chaotic systems which depend on a time-driven switching law is considered. The secure communications is set up by the masking scheme. Based on Lyapunov stability theorem, linear matrix inequality (LMI), and linear matrix equality (LME) optimization techniques, an output feedback controller is designed to synchronize the master-slave system...
In this paper we give a new sufficient condition for master-slave synchronization of piecewise affine (PWA) systems. Using a Lyapunov approach and the so-called S-procedure, we show that the synchronization problem can be solved as an optimization problem subject to a set of linear matrix inequalities (LMIs) for which the slave state-feedback controller is designed efficiently. A mechanical system...
This paper presents the design of a nonlinear rule based fuzzy logic controller for the nonlinear dynamic behavior of the probe tip of an atomic force microscope system (AFMs). At first, we use the bifurcation diagram to analysis the complex dynamic behavior of the atomic force microscope system. Next, the positive maximum Lyapunov exponent is obtained to identify that the chaotic motion do exist...
The tracking synchronization controller is designed to synchronize chaotic systems with diverse structures. The state variables of the Genesio system track an arbitrary reference signal of the Liu system at an exponential rate by choosing appropriate Lyapunov function. The designed controller is of unique structure, and synchronization between any chaotic systems can be achieved. The Liu system and...
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