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Observer Design for a Class of Nonlinear Systems Driven by Stochastic ProcessWith Bounded Covariance
T. A. Tamba,A. Turnip 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents an observer design method for Lipschitz nonlinear systems driven by stochastic processes with bounded covariances. A linear matrix inequality for searching an observer gain that guarantees the ultimate boundedness of the estimation error is derived. The proposed method is illustrated through an example in robotic applications.
Stochastic Stability of Dynamical Systems Driven by Lévy Processes
T. A. Tamba,A. Turnip 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper examines the asymptotic stability of dynamical systems that are driven by Levy processes. A Levy process is a stochastic process with stationary and independent increments. It includes both Wiener and Poisson jump processes and is suitable for simultaneous modeling of small and large fluctuations in a system. Sufficient conditions for the asymptotic stability of the process’ sample paths are derived based on Lyapunov-like techniques. In particular, both the linear and nonlinear models of the process are investigated in the presented stability analyses.
Development and Control Strategies of an Unmanned Autonomous Forklift
홍금식(Keum-Shik Hong),김민환(Min-Hwan Kim),이석(Suk Lee),김성신(Seong-Sin Kim),홍봉희(Bong Hee Hong),위디오트리앗모 아우기(A. Widyotriatmo),브이티탄 규엔(Quyen T. T. Bui),이정훈(Jung Hun Lee),탐바 투아 아구스티누스(Tua A. Tamba) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper presents the control strategies for the development of an unmanned autonomous forklift. A control architecture using several sensors (vision, ultrasonic sensor, laser range finder, etc.) and a PC controller is presented. An ultrasonic satellite and gyro are used for the localization, and a vision system is utilized for obstacle detection and the measurement of pallet position. The CAN communication network is utilized to provide the drive-by-wire technology for the unmanned autonomous forklift.