61 research outputs found
Stability Analysis of Continuous-Time Switched Systems with a Random Switching Signal
This paper is concerned with the stability analysis of continuous-time
switched systems with a random switching signal. The switching signal manifests
its characteristics with that the dwell time in each subsystem consists of a
fixed part and a random part. The stochastic stability of such switched systems
is studied using a Lyapunov approach. A necessary and sufficient condition is
established in terms of linear matrix inequalities. The effect of the random
switching signal on system stability is illustrated by a numerical example and
the results coincide with our intuition.Comment: 6 pages, 6 figures, accepted by IEEE-TA
Optimal Estimator Design and Properties Analysis for Interconnected Systems with Asymmetric Information Structure
This paper studies the optimal state estimation problem for interconnected
systems. Each subsystem can obtain its own measurement in real time, while, the
measurements transmitted between the subsystems suffer from random delay. The
optimal estimator is analytically designed for minimizing the conditional error
covariance. The boundedness of the expected error covariance (EEC) is analyzed.
In particular, a new condition that is easy to verify is established for the
boundedness of EEC. Further, the properties of EEC with respect to the delay
probability are studied. We found that there exists a critical probability such
that the EEC is bounded if the delay probability is below the critical
probability. Also, a lower and upper bound of the critical probability is
derived. Finally, the proposed results are applied to a power system, and the
effectiveness of the designed methods is illustrated by simulations
H<sub>2</sub> model reduction for diffusively coupled second-order networks by convex-optimization
This paper provides an optimal scheme for reducing diffusively coupled
second-order systems evolving over undirected networks. The aim is to find a
reduced-order model that not only approximates the input-output mapping of the
original system but also preserves crucial structures, such as the second-order
form, asymptotically stability, and diffusive couplings. To this end, an
optimal approach based on a convex relaxation is implemented to reduce the
dimension, yielding a lower order asymptotically stable approximation of the
original second-order network system. Then, a novel graph reconstruction
approach is employed to convert the obtained model to a reduced system that is
interpretable as an undirected diffusively coupled network. Finally, the
effectiveness of the proposed method is illustrated via a large-scale networked
mass-spring-damper system
Motion Control of Two Mobile Robots under Allowable Collisions
This letter investigates the motion control problem of two mobile robots
under allowable collisions. Here, the allowable collisions mean that the
collisions do not damage the mobile robots. The occurrence of the collisions is
discussed and the effects of the collisions on the mobile robots are analyzed
to develop a hybrid model of each mobile robot under allowable collisions.
Based on the effects of the collisions, we show the necessity of redesigning
the motion control strategy for mobile robots. Furthermore, impulsive control
techniques are applied to redesign the motion control strategy to guarantee the
task accomplishment for each mobile robot. Finally, an example is used to
illustrate the redesigned motion control strategy.Comment: 8 pages, 5 figure
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