Chih-Lyang Hwang

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First, we assume that the controlled systems contain a nonlinear matrix gain before a linear discrete-time multivariable dynamic system. Then, a forward control based on a nominal system is employed to cancel the system nonlinear matrix gain and track the desired trajectory. A novel recurrent-neural-network (RNN) with a compensation of upper bound of its(More)
In this paper, the trajectory tracking and (dynamic) obstacle avoidance of a car-like mobile robot (CLMR) within distributed sensor-network spaces via fuzzy decentralized sliding-mode control (FDSMC) is developed. To implement trajectory tracking and (dynamic) obstacle avoidance, two distributed charge-coupled device (CCD) cameras are set up to realize the(More)
In this paper, a decentralized discrete variable structure control via mixed H2/H infinity design was developed. In the beginning, the H2-norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, a suitable selection of this weighted function(More)
Due to the under-actuated characteristic of quadrotor unmanned aerial vehicle (QUAV), the sliding surface using measurable output (i.e., 3D position and attitude), whose number is larger than that of control input (i.e., total thrust force, roll, pitch and yaw torques), is designed. Hence, the number of control input and sliding surface is the same, and the(More)
This paper realizes a humanoid robotic system to execute target grasping (TG) in the 3-D world coordinate. At the outset, the HR scans the field to find specific target(s), which is (are) randomly distributed in the 3-D coordinate before the HR. By an active stereo vision system (ASVS), the HR is navigated to the planned posture and then the task of TG is(More)