A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information....
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A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator's computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.
In this paper, a finite-time controller for bank-to-turn (BTT,) missiles isdesigned based on nonsingular terminal sliding mode (NTSM,) technique. Theproposed controller allows that roll rate and angle of attack can tr...
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In this paper, the problem of the stability for a class of stochastic systems with time-varying delay is investigated. By dividing the delay interval into multiple segments and choosing different weighting matrices in...
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In this paper, the problem of the stability for a class of stochastic systems with time-varying delay is investigated. By dividing the delay interval into multiple segments and choosing different weighting matrices in the new LyapunovKrasovskii functional, the delay-dependent sufficient criterion is derived in terms of linear matrix inequalities(LMIs). Neither model transformations nor bounding techniques for cross terms is employed, so the derived criterion is less conservative than the most existing results. Meanwhile, the computational complexity of the obtained stability conditions is reduced because less variables are involved. A numerical example is given to show the application of the proposed method.
This paper deals with the robust H filtering problem for discrete-time linear systems with polytopic *** from existing results,we assume that not only the Lyapunov functions are parameter-dependent in the whole polyto...
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This paper deals with the robust H filtering problem for discrete-time linear systems with polytopic *** from existing results,we assume that not only the Lyapunov functions are parameter-dependent in the whole polytope domain,but also the filter is dependent of the parameters which belong to a *** results contain no constant matrix variable for the entire polytope domain,which guarantees to provide extra free dimensions in the solution space for the H filtering problem and establish less conservative filter design *** addition,the robust H filter can be established by linear matrix inequalities（LMIs） which can be solved numerically by efficient convex optimization *** effectiveness of the proposed design methods is finally verified by a numerical example at the end of the paper.
This paper deals with the chaos synchronization problem for a class of nonlinear pendulum-like systems with multiple *** on the method of periodic Lyapunov functions,linear matrix inequality(LMI) formulations are esta...
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This paper deals with the chaos synchronization problem for a class of nonlinear pendulum-like systems with multiple *** on the method of periodic Lyapunov functions,linear matrix inequality(LMI) formulations are established to guarantee the stable synchronization of both master and slave pendulum-like systems by feedback control ***,a concrete application to phase-locked loop(PLL) shows the applicability and validity of the proposed approach.
A new simultaneous localization and mapping approach based on mixed map model using laser data and odometry information is presented in this paper. Mixed model composed of occupancy grids and line maps is utilized to ...
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A new simultaneous localization and mapping approach based on mixed map model using laser data and odometry information is presented in this paper. Mixed model composed of occupancy grids and line maps is utilized to represent environment maps. At the same time Hough transform is introduced to extract line features. Then robot localization and map building task is accomplished using line features matching and extended Kalman filter. Experimental results indicate the feasibility and validity of this approach.
In order to intercept maneuvering targets, a guidance law based on nonsingular terminal sliding mode (NTSM) technique is presented. The proposed NTSM contains the line-of-sight (LOS) angular rate and a desired LOS ang...
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In order to intercept maneuvering targets, a guidance law based on nonsingular terminal sliding mode (NTSM) technique is presented. The proposed NTSM contains the line-of-sight (LOS) angular rate and a desired LOS angular. Through introducing the nonlinear sliding mode surface to improve the convergent characteristics of the system, the states of the closed-loop system can be converged to the origin in finite time and the system performance is improved greatly. The LOS angular rate is nullified in finite time to guarantee the zero miss-distance between the missile and the target;the LOS angular reaches the desired value in finite time to guarantee the missile attitude of hitting the target. With the maneuverability of acceleration of the target regarded as an unknown bounded disturbance, the proposed guidance law is robust to target maneuvering by using the invariance of the variable structure control. The guidance law has a simple structure and is easy to be implemented. Two cases of target maneuvering are simulated to validate the effectiveness of the method. The simulation results show that the algorithm has strong robustness and high guidance accuracy.
The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our des...
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The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.
Object states estimation and data association are main facets of multi-object tracking. Under complex situations, one object often grouped with others, or occluded by other objects or background, which can increase th...
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In the letter [Neurocomputing 71(1–3) (2007) 428–438], there exists one minor error in computing the derivative of V 2 ( ɛ ( t ) ) and thus, the proof of Theorem 1 needs some improvement.
In the letter [Neurocomputing 71(1–3) (2007) 428–438], there exists one minor error in computing the derivative of V 2 ( ɛ ( t ) ) and thus, the proof of Theorem 1 needs some improvement.
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