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Karthi Ramachandran,Jyh-Ching Juang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
The consensus problem for nonlinear multi-agent systems communicating on a connected undirected topology is addressed in this paper. The system nonlinearity of each agent accepts the one-sided Lipschitz and the quadratic-inner bounded properties. Furthermore, actuators of the agents are subject to a loss in their efficiency and are also assumed to have nonlinearity at the input. In addition, the agents are influenced by parametric uncertainties both at the system and input level, also bounded external disturbances affect the system states. To attain a consensus under these constraints, an observer-based state feedback protocol is developed. Subsequently, a robust finite-time boundedness study is performed by constructing an appropriate Lyapunov function from a closed loop observererror dynamics. Following this, the controller and observer gains are designed from the resulting linear matrix inequalities. This guarantees a reliable consensus among the agents in a finite time against actuator faults and uncertainties. The protocol’s effectiveness is shown by a suitable example.
Backstepping Control with Sum of Squares Design for Omni-directional Mobile Robots
Shun-Hung Chen,Jyh-Ching Juang,Sin-Hwa Su 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a backstepping control method using sum of squares (SOS) technique to synthesize a nonlinear controller for a three wheels omni-directional mobile robot. The characteristic of strict-feedback systems is also applied to construct the backstepping controller. The controller design satisfies the Lyapunov direct method and LaSalle-Yoshizawa theorem so that the stability of control systems can be assured. Subsequently, the sum of squares conditions are developed to constraint the performances such that the backstepping controller is optimal. Computer simulations and experimental results for mobile robots demonstrate the effectiveness of the proposed backstepping controller.
Effect of Array Configurations on the Performance of GNSS Interference Suppression
Chung-Liang Chang,Jyh-Ching Juang 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.6
This paper analyzes, through simulations, GNSS interference mitigation performance against wideband and narrowband interferences by using spatial-temporal adaptive processing (STAP). The mathematical analysis results demonstrate that the array configuration has a considerable effect on the spatial-temporal correlation function. Based on the results, different array configurations are presented to evaluate and observe the effect on interference mitigation. The analysis results are further assessed through simulations.
Implementation of BOC Signal Acquisition Using a DSP/FPGA Board
Yu-Hsuan Chen,Jyh-Ching Juang,Tsai-Ling Kao 한국항해항만학회 2006 한국항해항만학회 학술대회논문집 Vol.2 No.-
Future GNSS signal using BOC modulation brings the advantages of positioning accuracy and multipath rejection. However, the BOC signal has an ambiguous autocorrelation function that complicates the process of acquisition. Three techniques that solve the ambiguous problem are BPSK-like, Sub Carrier Phase Cancellation, and Bump Jumping. In this paper, these methods are implemented by means of a DSP/FPGA board. Moreover, an experiment is conducted to examine and compare the performance of these techniques.
Chung-Liang Chang,Ho-Nien Shou,Jyh-Ching Juang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper utilizes a novel evolutionary approach to proceed with signal acquisition in Global Navigation Satellite Systems (GNSS). The method controls search space bound of frequency shift and code delay to shorten signal acquisition time. Simulation results show that the proposed scheme can acquire more accurate signal parameters and take less signal acquisition time than the traditional method.