In this paper, automatic motion control is investigated for wheeled inverted pendulum (WIP) models, which have been widely applied modeling of a large range two modern vehicles. First, the underactuated WIP model decomposed into fully actuated second-order subsystem Σ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a</sub> consisting planar movement vehicle forward and yaw angular motions, passive (nonactuated) first-order...

This paper focuses on the robust output feedback ℋ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> /ℋ xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control issue for a class of discrete-time networked systems with uncertain parameters and external disturbance. Sensor-to-controller controller-to-actuator packet dropouts time delays are considered simultaneously. According to stochastic characteristic delays, model based Markov jump...

Cooperative braking control is a very important operation in vehicle platoon for developing intelligent transportation systems, which can effectively increase road capacity, decrease safety hazard, and avoid serial rear-end collisions. This paper focuses on cooperative of autonomous vehicles, the objectives are to ensure intervehicles keep within safe spacing range rapidly, smoothly, accurately stop at desired target stopping positions with zero velocity. To achieve these goals,...

An improved Razumikhin-type theorem is established, and the advantage of established for reducing conservatism discussed. For a class time-delay systems, simple asymptotic stability condition deduced as an application theorem. Two illustrative examples are given to show superiority results those in literature.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

In this paper, the sensor data is transmitted only when absolute value of difference between current and previously one greater than given threshold value. Based on send-on-delta scheme which event-triggered sampling strategies, a modified fault isolation filter for discrete-time networked control system with multiple faults then implemented by particular form Kalman filter. The proposed improves resource utilization graceful estimation performance degradation. An illustrative example to...

This study studies coordinated control of a platoon vehicles consisting leader and multiple followers when suffer from disturbances. Small disturbances acting on one vehicle may cause large spacing errors between intervehicles. In addition, the propagate up or down in platoon. To mitigate adverse effect disturbances, law is proposed based only position information itself its preceding vehicle. analyse propagation among platoon, upper bounds two transfer functions are presented including...

This article presents a skill learning-based hierarchical control strategy for human-robot cooperative manipulation, which constitutes novel learning-control system. The high-level learning aims to learn the motor skills from human demonstrations by fusion with dynamic motion primitives (DMPs) and Gaussian mixture model (GMM). lower level guarantees compliance of robot movement under interaction using admittance integral barrier Lyapunov function (IBLF)-based adaptive neural controller....

This study focuses on the output feedback guaranteed cost control issue for networked systems with random packet dropouts and time delays. The plant considered in this is characterized by an uncertain linear discrete-time system, wherein delays exist forward controller-to-actuator sensor-to-controller communication links that are modeled as unified multiple Markov chains. resulting closed-loop system a Markovian jump system. solved via Lyapunov stability theory matrix inequality approach....

With increasing growth of vehicles, traffic congestion and safety deserve to be looked at more closely. Cooperative autonomous driving is an effective solution reduce ensure safety. In this paper, cooperative control multiple vehicles considered realize sharing the same roads without collusion with each other. Lane-following braking are two basic operations driving. The objectives lane-following make inter keep a safe spacing run on middle position lane. To reach targets, distributed...

A new generalised Kalman filtering algorithm using a multiplicative measurement noise model is developed for tracking moving targets in wireless sensor network. This error facilitates more accurate characterisation of the distance dependence errors range-estimating sensors. Two formulations extended filter (EKF) and unscented (UKF), called EKF (GEKF) UKF (GUKF) are derived. Comparing with conventional formulations, it shown that GEKF GUKF can achieve smaller than traditional UKF. Simulation...

This paper focuses on a new H∞ controller design issue for networked control systems with external disturbance as well random time delays and packet dropouts in forward feedback channels, which are modeled by multiple Markov chains unified style. The output is designed to stabilize the system also achieves prescribed attenuation level. addressed problem transformed into nonlinear minimization LMI constraints. An illustrative example provided show effectiveness of proposed methods. Copyright...

In this paper, we research the resilient control problem for cyber-physical system (CPS) under denial-of-service (DoS) attacks. These malicious DoS attacks aim to impede communication of measurement data or in order endanger functionality closed-loop system. Meanwhile, save network resources, event-triggered mechanism has been introduced into CPS. By exploiting relationship between cyber and physical system, design controller strategy tolerate a class signals characterised by probability...

Abstract Cyber‐Physical Systems (CPSs) are vulnerable to malicious network attacks due tight combination of cyber‐system and physical system through a more open communication. In this paper, guaranteed cost control problem for CPS under DoS jamming is solved via both state feedback output methods. Specifically, an energy constraint jammer with clear periodic attack strategy proposed wireless channel degrade the performance. Without knowing jammer's strategy, passive attack‐tolerant mechanism...

Abstract This paper presents the robustness bounds of delay-independent asymptotic stability for linear systems with multiple time-varying delayed perturbations including both nonlinear and unstructured/structured in states. The case arbitrary unknown but constant delays is included results as a special case. All obtained can be maximized by choosing some appropriate free parameter matrices. In six illustrative examples, it shown that all proposed methods are larger than existing ones literature.

This paper is concerned about the state estimation of power systems, which contain flexible ac transmission system devices. Specifically, formulation in order to incorporate detailed steady models unified power-flow controller (UPFC) investigated. involves use equality and inequality constraints that account for limits associated with device operation ratings. Furthermore, addition its as an estimator, developed estimator can also be used determine required settings control parameters UPFCs...

A novel energy-balanced task-scheduling method is proposed that extends the lifespan of wireless sensor networks (WSNs) for collaborative target tracking using an unscented Kalman filter (UKF) algorithm. It shown accuracy approximately proportional to number active nodes participating in tracking. Excessive thus may be put sleep mode conserve energy provided there are a sufficient nodes. then WSN dictated by distribution residue Specifically, we have likely maximize its lifespan. As such, at...

States that some expressions in the above paper by Su and Huang (IEEE Trans. Autom. Contr., vol. 37, no. 10, p.1656-59, 1992) should be modified there are also errors paper.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

This paper considers the problem of state feedback guaranteed cost controller design for singular time-delay systems with norm-bounded parameter uncertainty. First, in terms Lyapunov technique and linear matrix inequalities (LMIs), a delay-dependent stability criterion normal system is established, which guarantees to be regular, impulse free asymptotically stable. Then, based on concept generalized quadratic stability, we obtain sufficient condition existence forms inequalities. Finally,...