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	Lyapunov-Based Output Containment Control of Heterogeneous Multi-Agent Systems With Markovian Switching Topologies and Distributed Delays 期刊论文 OAI收割 IEEE/CAA Journal of Automatica Sinica, 2023, 卷号: 10, 期号: 6, 页码: 1421-1433 作者: Haihua Guo; Min Meng; Gang Feng \| 收藏 \| 浏览/下载：6/0 \| 提交时间：2023/05/29 Heterogeneous multi-agent systems Lyapunov method Markovian switching topologies output containment control time delays
	Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking and reduces the tracking error and the chattering of the control output. 2012 IEEE.
	Study on navigation control method for CyberCar based on machine vision (EI CONFERENCE) 会议论文 OAI收割 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, December 15, 2007 - December 18, 2007, Yalong Bay, Sanya, China Zhang R.-H.; Wang R.-B.; You F.; Jia H.-G.; Chen T. 收藏 \| 浏览/下载：32/0 \| 提交时间：2013/03/25 The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore it can trace the path steadily and reliably. 2008 IEEE. the steering control mathematics model based on preview kinematics for CyberCar was established. And then the switching hyper plane is designed by applying the optimal control theory during the change of the curve curvature radius is little the curve tracking of the intelligent vehicle is carried out by adopting sliding variable structure controller. Aim at the parameter uncertainty of tire a vehicle steering system uncertain model was founded and analyzed. A H optimal controller is designed with the method of H control theory to solve the problem about model uncertainty. The simulation and experiment results show that the controller designed by the proposed method has good robustness and adaptability
	Dynamics simulation on control technology for 4WS vehicle steering performance (EI CONFERENCE) 会议论文 OAI收割 ISECS International Colloquium on Computing, Communication, Control, and Management, CCCM 2008, August 3, 2008 - August 4, 2008, Guangzhou, China Rong-Hui Z.; Hong-Guang J.; Tao C. 收藏 \| 浏览/下载：29/0 \| 提交时间：2013/03/25 By combining visual preview kinematics dynamic equation of steering system and 2-DOF steering dynamistic model of 4WS it can easily attenuate the change and uncertainty of model. 2008 IEEE. we establish the two degree of freedom model of four-wheel steering vehicle. And then the switching hyper plane is designed by applying the optimal control theory. During the change of parameter is little 4WS steering performance is carried out by adopting sliding variable structure controller. To improve the steering performance of 4WS especially state variables convergent velocity Kalman filter for 4WS is designed. And the robust optimal controller is designed for model and parameter is uncertainty. The simulation results show that the controller designed by the proposed method has good robustness
	New approaches to generalized Hamiltonian realization of autonomous nonlinear systems 期刊论文 OAI收割 SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES, 2003, 卷号: 46, 期号: 6, 页码: 431-444 作者: Wang, YZ; Li, CW; Cheng, DZ \| 收藏 \| 浏览/下载：17/0 \| 提交时间：2018/07/30 generalized Hamiltonian realization feedback dissipative realization first integrals orthogonal decomposition method control-switching method