Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the en...
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Cognitive navigation,a high-level and crucial function for organisms' survival in nature,enables autonomous exploration and navigation within the environment. However,most existing works for bio-inspired navigatio...
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With the intensification of population aging and the increasing number of patients with lower limb dysfunction, the research and precise control of lower limb rehabilitation robots have become increasingly important. ...
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This paper focuses on the robust control issue for interval type-2 Takagi-Sugeno(IT2 T-S)fuzzy discrete systems with input delays and cyber *** lower and upper membership functions are first utilized to IT2 fuzzy disc...
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This paper focuses on the robust control issue for interval type-2 Takagi-Sugeno(IT2 T-S)fuzzy discrete systems with input delays and cyber *** lower and upper membership functions are first utilized to IT2 fuzzy discrete systems to capture parameter *** considering the influences of input delays and stochastic cyber attacks,a newly fuzzy robust controller is ***,the asymptotic stability sufficient conditions in form of LMIs for the IT2 closed-loop systems are given via establishing a Lyapunov-Krasovskii ***,a solving algorithm for obtaining the controller gains is ***,the effectiveness of the developed IT2 fuzzy method is verified by a numerical example.
To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobi...
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To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.
In this paper,the strong structural controllability of the leader-follower framework is ***,the authors analyze different edge augmentation methods to preserve the strong structural controllability of the path-bud ***...
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In this paper,the strong structural controllability of the leader-follower framework is ***,the authors analyze different edge augmentation methods to preserve the strong structural controllability of the path-bud *** following four cases are considered:Adding edges from the path to the bud;adding edges from the bud to the path;adding the reverse or forward edges to the path or bud;and adding both the reverse and forward edges to the path or *** sufficient conditions are derived for the strong structural controllability of the new topologies which are generated by adding different *** addition,it is proved that rank[A B]=n is a necessary condition for the strong structural ***,three examples are given to verify the effectiveness of the main results.
This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynami...
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This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first ***,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale *** is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event *** addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable ***,the results are extended to regional consensus of the MASs with the bounded control *** simulations show the effectiveness of the proposed approach.
Traditional consequent pole motor has the advantages of less magnetic costs, small magnetic resistance and strong inductance. It is widely studied in the design of the electrical propulsion system. However, it has the...
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This study focuses on enhancing the evasion capabilities of unmanned ground vehicles(UGVs) using Generative Adversarial Imitation Learning(GAIL). The UGVs are trained to evade unmanned aerial vehicles(UAVs). A decisio...
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This study focuses on enhancing the evasion capabilities of unmanned ground vehicles(UGVs) using Generative Adversarial Imitation Learning(GAIL). The UGVs are trained to evade unmanned aerial vehicles(UAVs). A decision-making neural network has been trained via GAIL to refine evasion strategies with expert demonstrations. The simulation environment was developed with OpenAI Gym and calibrated with real-world data for the improvement of accuracy. The integrated platform including the proposed algorithm was tested in flight experiments. Results showed that the UGVs could effectively evade UAVs in the complex and dynamic environment.
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sli...
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The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
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