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Shen, M.,Park, J.H. Instrument Society of America 2016 ISA transactions Vol.63 No.-
This paper addresses the H<SUB>~</SUB> filtering of continuous Markov jump linear systems with general transition probabilities and output quantization. S-procedure is employed to handle the adverse influence of the quantization and a new approach is developed to conquer the nonlinearity induced by uncertain and unknown transition probabilities. Then, sufficient conditions are presented to ensure the filtering error system to be stochastically stable with the prescribed performance requirement. Without specified structure imposed on introduced slack variables, a flexible filter design method is established in terms of linear matrix inequalities. The effectiveness of the proposed method is validated by a numerical example.
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Liu, Y.,Park, J.H.,Guo, B.Z. Instrument Society of America 2016 ISA transactions Vol.63 No.-
In this paper,the problem of H<SUB>~</SUB> filtering for a class of nonlinear discrete-time delay systems is investigated. The time delay is assumed to be belonging to a given interval, and the designed filter includes additive gain variations which are supposed to be random and satisfy the Bernoulli distribution. By the augmented Lyapunov functional approach, a sufficient condition is developed to ensure that the filtering error system is asymptotically mean-square stable with a prescribed H<SUB>~</SUB> performance. In addition, an improved result of H<SUB>~</SUB> filtering for linear system is also derived. The filter parameters are obtained by solving a set of linear matrix inequalities. For nonlinear systems, the applicability of the developed filtering result is confirmed by a longitudinal flight system, and an additional example for linear system is presented to demonstrate the less conservativeness of the proposed design method.
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Dai, Y.,Kim, Y.,Wee, S.,Lee, D.,Lee, S. Instrument Society of America 2016 ISA transactions Vol.60 No.-
In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A@? algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles.
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