Learn More
—This paper comprehensively analyzes the relationship between space-vector modulation and three-phase carrier-based pulsewidth modualtion (PWM). The relationships involved, such as the relationship between modulation signals (including zero-sequence component and fundamental components) and space vectors, the relationship between the modulation signals and(More)
This paper aims to give a general and unifying presentation on modeling of wheel mobile robots (WMRs) in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate perturbations to the vehicle skidding and slipping. Four configurations of mobile robots are considered, and(More)
This paper deals with the locomotion control of quadruped robots inspired by the biological concept of central pattern generator (CPG). A control architecture is proposed with a 3-D workspace trajectory generator and a motion engine. The workspace trajectory generator generates adaptive workspace trajectories based on CPGs, and the motion engine realizes(More)
We propose a distributed algorithm for controlling traffic signals. Our algorithm is adapted from backpressure routing, which has been mainly applied to communication and power networks. We formally prove that our algorithm ensures global optimality as it leads to maximum network throughput even though the controller is constructed and implemented in a(More)
—A frequency-domain design is presented for the an-ticipatory learning control. Convergence conditions are derived in terms of two design parameters, the lead-time and the learning gain. For minimum phase systems, the design of the anticipatory learning control in the frequency domain is decoupled into a two-step procedure. The design is robust against(More)