Qijun Chen

Codesign of Event-Triggered and Distributed

This paper is concerned with the problem of distributed <inline-formula><tex-math notation=LaTeX>

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Filtering for Active Semi-Vehicle Suspension Systems

</tex-math></inline-formula> filtering for a cloud-aided active semi-vehicle suspension system. The information of semi-vehicle suspension system are transmitted to the cloud through wireless network with some unreliable characteristics, such as communication time-delay and limited bandwidth, which are solved by the delay-distribution dependent method and event-triggered scheme, respectively. In order to reduce the dimensions of results, the semi-vehicle suspension is decomposed into two interconnected subsystems. At the side of remote cloud, filters are designed for each subsystem with considering the unreliable characteristics of network and stochastic sensor faults, simultaneously. A codesign algorithm is provided to obtain the distributed <inline-formula><tex-math notation=LaTeX>

Central Pattern Generator Inspired Control for Adaptive Walking of Biped Robots

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A bearing-only 2D/3D-homing method under a visual servoing framework

</tex-math></inline-formula> filtering and the event-triggered scheme, simultaneously. Finally, the efficient performances of the codesigned algorithm are evaluated both in time and frequency domains under different road conditions.

Trajectory tracking control of a nonholonomic mobile robot

Inspired by the biological concept of central pattern generators (CPGs), this paper deals with adaptive walking control of biped robots. Using CPGs, a trajectory generator is designed consisting of a center-of-gravity (CoG) trajectory generator and a workspace trajectory modulation process. Entraining with feedback information, the CoG generator can generate adaptive CoG trajectories online and workspace trajectories can be modulated in real time based on the generated adaptive CoG trajectories. A motion engine maps trajectories from workspace to joint space. The proposed control strategy is able to generate adaptive joint control signals online to realize biped adaptive walking. The experimental results using a biped platform NAO confirm the effectiveness of the proposed control strategy.

Reliable Output Feedback Control for T-S Fuzzy Systems With Decentralized Event Triggering Communication and Actuator Failures

Homing is one of the fundamental functions for both the mobile robot and the flying robot. Furthermore, homing can be introduced into a topological navigation system by cyclically setting Home positions at the keypoints/nodes in a topological map. In this work, we describe a bearing-only homing method based on only few matching keypoints to grant the mobile robot the homing ability. Our method considers the homing problem as a visual servoing problem in 2D plane and even in 3D space, using an omnidirectional camera as the visual sensor. It doesnt require the distance information to the reference feature points. The proof of the convergence for the algorithm is also given. The simulation results confirm the feasibility and robustness of our method.

Event-Triggered Nonsynchronized

In this paper, feedback tracking control for wheeled nonholonomic mobile robots is proposed based on kinematic model. Coordinate transformations are used firstly to transform the robot kinematics into chained form. Then the two controllers are designed separately and backstepping technology is used to design the controllers. The simulation results demonstrate the effectiveness of the proposed controllers.

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Due to the unavailability of full state variables in many control systems, this paper is concerned with the design of reliable observer-based output feedback controller for a class of network-based Takagi-Sugeno fuzzy systems with actuator failures. In order to better allocate network resources under the case that the sensor nodes are physically distributed, the decentralized event triggering communication scheme is adopted such that each sensor node is capable to determine the transmission of its local measurement information independently. Considering that the implementation of the controller may not be synchronized with the plant trajectories due to asynchronous premise variables with such communication mechanism, a novel piecewise fuzzy observer-based output feedback controller is developed. By applying a piecewise Lyapunov function and some techniques on matrix convexification, an approach to the design of observer and controller gain is derived for the augmented closed-loop system to be asymptotically stable with a guaranteed

Filtering for Discrete-Time T–S Fuzzy Systems Based on Piecewise Lyapunov Functions

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