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This paper focuses on the estimation of the variables for vehicle lateral dynamics. The estimation is based on Linear Parameter Varying Unknown Input Observer. The model of vehicle lateral dynamics considered in this work contains a nonlinear part decoupled in the state equation. The Observer conditions of the Unknown Input Observer are expressed as Linear Matrix Inequalities. Simulations are presented...
This paper presents an adaptive region tracking control for Autonomous Underwater Vehicle (AUV). The AUV is required to track a moving region to accomplish a given task. The desired target is specified as a region rather than a point so that the control effort used to track the region is minimal. In the applications where the accuracy is of utmost importance, the desired region can be chosen to be...
Flocking of a team of Lagrangian agents is investigated in this paper. The motion equation of agents with Lagrangian dynamics and its properties are reviewed. The centrifugal and coriolis effects and gravitational terms in the dynamics of agents have been neglected in previous works on flocking problem. However the dynamics of many dynamical systems which would be the agents in practical applications...
This paper investigates the stability and boundary of a swarm with a general directed and weighted topology. The stability of a swarm is generally considered as cohesiveness. We construct a symmetric eigenmatrix and define an orthogonal eigenparameter which reflects the degree of orthogonality between the left eigenvector of the coupling matrix corresponding to its zero eigenvalue and the eigenvectors...
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