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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)
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)
Extreme learning machine (ELM) was initially proposed for single-hidden-layer feedforward neural networks (SLFNs). In the hidden layer (feature mapping), nodes are randomly generated independently of training data. Furthermore, a unified ELM was proposed, providing a single framework to simplify and unify different learning methods, such as SLFNs, least(More)
This paper develops a trajectory planning algorithm for a four-wheel-steering (4WS) vehicle based on vehicle kinematics. The flexibility offered by the steering is utilized fully in the trajectory planning. A two-part trajectory planning algorithm consists of the steering planning and velocity planning. The limits of vehicle mechanism and drive torque are(More)
Most wheeled mobile robot (WMR) controllers have been developed based on nonskidding and nonslipping assumptions. Unfortunately, wheel skidding and slipping are inevitable due to wheel tire-deformation; consequently, the stability and performance of these controllers are not guaranteed. This brief aims to develop a global positioning system (GPS)-based path(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)