To fa.i.itate the development of intelligent robots, a virtual entity based ra.i. prototype developing framework (VE-RPDF) is proposed. it aims at helping design intelligent robots through the following steps: ra.i.ly...
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To fa.i.itate the development of intelligent robots, a virtual entity based ra.i. prototype developing framework (VE-RPDF) is proposed. it aims at helping design intelligent robots through the following steps: ra.i.ly setting up a robot prototype, coding for the control strategy and algorithm, and optimizing the robot design by testing it on both virtual entities and real robots. With VE-RPDF, two types of robots, including wheeled robot and humanoid robot, are developed, and the latter one is introduced as a case to verify the va.i.a.i.n of VE-RPDF.
Componentiza.i.n is an important method to improve the reusa.i.ity of robot software and reduce the difficulty of system design. in this paper, we propose a component based design framework for robot software architec...
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Componentiza.i.n is an important method to improve the reusa.i.ity of robot software and reduce the difficulty of system design. in this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this ba.i., the sta.i. model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communica.i.n mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to fa.i.itate the developers. Finally, an applica.i.n based on the framework is introduced to verify the va.i.a.i.n of the design framework.
This paper investigates the absolute sta.i.ity problem for Lur'e singularly perturbed systems with multiple nonlinea.i.ies. The objective is to determine if the system is absolutely stable for any Ε ∈ (0, Ε0], ...
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This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communica.i.n constraints. Communica.i.n constraints under considera.i.n include medium access ...
This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communica.i.n constraints. Communica.i.n constraints under considera.i.n include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communica.i.n constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential sta.i.ity with L2 gain performance are developed for the switched system. Based on the sta.i.ity conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously sta.i.izes the collection of NCSs. Simula.i.n on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.
This paper addresses the problem of robust sta.i.ity of discrete-time switched systems with time-varying delays and polytopic uncertainties. it is supposed that the switched systems are composed of both stable and uns...
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ISBN:
(纸本)9781424445233
This paper addresses the problem of robust sta.i.ity of discrete-time switched systems with time-varying delays and polytopic uncertainties. it is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential sta.i.ity are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of sta.i.ity analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simula.i.n on network-based reliable control of cart-pendulum.
This paper investigates the absolute sta.i.ity problem for Lur'e singularly perturbed systems with multiple nonlinea.i.ies. The objective is to determine if the system is absolutely stable for any epsilon E (0, (e...
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ISBN:
(纸本)9781424474264
This paper investigates the absolute sta.i.ity problem for Lur'e singularly perturbed systems with multiple nonlinea.i.ies. The objective is to determine if the system is absolutely stable for any epsilon E (0, (epsilon)_(0)], where epsilon denotes the perturba.i.n parameter and (epsilon)_(0) is a pre-defined positive scalar. Firstly, an epsilon-dependent Lyapunov function of Lur'e-postnikov form is constructed. Then, a sta.i.ity criterion expressed in terms of epsilon-independent linear matrix inequa.i.ies (LMis) is derived. Finally, an example is given to show the fea.i.ility and effectiveness of the obtained method.
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