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This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started...
This paper deals with invariant set analysis for discrete-time polynomial nonlinear feedback single input and single output systems with dynamic quantizers where the control input signal takes discrete values. The paper starts with invariant set analysis for discrete-time polynomial nonlinear systems with bounded disturbances. Since the quantization error is also bounded, analysis of feedback systems...
Autonomous navigation of generic monocular quadcopter in the natural environment requires sophisticated mechanism for perception, planning and control. In this work, we have described a framework which performs perception using monocular camera and generates minimum time collision free trajectory and control for any commercial quadcopter flying through cluttered unknown environment. The proposed framework...
We present a new approach to the design of smooth trajectories for quadrotor unmanned aerial vehicles (UAVs), which are free of collisions with obstacles along their entire length. To avoid the non-convex constraints normally required for obstacle-avoidance, we perform a mixed-integer optimization in which polynomial trajectories are assigned to convex regions which are known to be obstacle-free....
This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe trajectory generation in missions with cooperating multiple aerial vehicles. Pseudospectral collocation can generate optimized collision-free trajectories, but for multiple aerial vehicles it cannot guarantee that the safety separation distance is maintained in the whole trajectories,...
The paper contains a detailed analysis of the application of the passification approach to the problem of rendering the hyperbolic upright equilibrium of the simplified model of the Furuta pendulum globally attractive. It is shown that any smooth feedback control passifying the system with the naturally defined storage functions does not provide the desired property. Based on the idea of the VSS-like...
In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type”...
In this paper, we consider dissipativeness and a spectral factorization for discrete time behavioral systems. At first, we briefly study dissipativeness of discrete time behavioral systems based on quadratic difference forms[KF2]. Next, we expand the spectral factorization for continuous time symmetric matrix polynomials derived in [GT] into discrete time via quadratic difference forms.
A novel formulation of linear model-based predictive control is presented. Predicted flat output trajectories and stabilization around these trajectories constitute the main components of our predictive control approach. A simple dc motor and a cement mill model illustrate the principal features of the method.
In Pugh et. al. (1998), fundamental equivalence between AutoRegressive (AR) — representations has been defined. Actually two AR-representations are defined to be fundamentally equivalent in case there exists a bijective polynomial differential map between its behaviours. In this paper, it is shown how to reduce an AR-Representation to a fundamental equivalent realization in descriptor form.
The purpose of this paper is to present a new methodology to control current-fed induction motor. This approach results from a combination of the differential flatness properties and the monovariable Generalized Predictive Control with Multiple Reference Model (GPC/MRM) algorithm. The chosen outputs: the rotor speed and the square of the rotor flux modulus, with respect to the motor modeling, lead...
This paper presents a simple adaptive controller which universally achieves so-called X-tracking for linear systems where only little structural information about the system to be controlled is needed. The paper extends previous results to the case of systems with higher relative degree. Stability and convergence of the adaptation is proven for tracking arbitrary but sufficiently smooth reference...
In this paper, we make use of the behavioural approach to extend the optimal LQ-control problem to multidimensional (N-D) systems. We use the theory of Quadratic Differential Forms (QDFs) to define cost functional on N-D systems and derive conditions that have to be satisfied by these QDFs to allow an optimal behaviour. We show how the optimal behaviour is dependent only on the QDF and derive conditions...
In this paper we discuss the concept of compatible behavior interconnections. We distinguish the case where all variables are available for interconnection (total interconnection) from the case where only a part of them are (partial interconnection). The main idea behind the notion of compatibility for total interconnection is causality of (the effect of) the interconnection. We also show that state...
This contribution presents a flatness based approach for disturbance decoupling and asymptotic disturbance rejection for linear and nonlinear systems with measurable disturbances. Different from previous flatness based approaches the disturbance input is regarded as an additional fictitious input. This on the one hand enlarges the class of systems, where flatness based disturbance decoupling and asymptotic...
In this paper, we address the robust reduced-order filtering problem for linear parameter-varying (LPV) systems using an H∞-setting. The stability and the performance in a L2-gain sense of the filtering error is based on the existence of an affine parameter-dependent Lyapunov function. Our synthesis method gives sufficient conditions for the filter design which are expressed as new easily tractable...
This paper aims at providing some new insights into the linear quadratic optimization problem in the behavioral approach. A new problem statement is given and some comparisons with the standard LQ problem in the state space approach are provided. The problem solution is analyzed in detailed terms so that all optimal trajectories can be easily computed from the initial data. Noteworthy, the set of...
An obstacle avoidance trajectory planning for an omni-directional robot is investigated in this paper where obstacles moves with velocity and acceleration constraints. The key issue is an optimized solution for the problem with respect to a cost function which is related to the states and energy consumption. Moreover, the trajectory functions are considered as polynomial functions to obtain desired...
Target motion analysis (TMA) for a rectilinear source movement (RSM) has been intensively studied in the last ten years. But difficulties still exist, especially when source heading or speed changes are within the same time as the conventional TMA convergence time. This paper is concerned with a new method of batch TMA for maneuvering sources using a non-linear least-squares fit between the whole...
Nowadays systems on board embed an ever-increasing number of MEMS sensors. MEMS sensors can be inertial sensors (e.g. accelerometer, gyroscope) or other (e.g. magnetometer). Sensors provide non-ideal responses with respect to the movement they undergo. MEMS sensors data processing algorithms cannot be developed through board-based prototyping since reference (golden) physical stimuli are not reproducible...
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