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In this paper we consider a class of partially observed dynamic systems with measurement uncertainty and present a technique for design of optimal linear output feedback controls to minimize the maximum risk. This is then extended to cover systems with uncertainty in the measurement as well as in the dynamics. These results are presented in the form of(More)
Localization and motion control (navigation) are two major tasks for a successful mobile robot navigation. The motion controller determines the appropriate action for the robot’s actuator based on its current state in an operating environment. A robot recognizes its environment through some sensors and executes physical actions through actuation mechanisms.(More)
In the absence of aerodynamic pitch control, it is required to drive the wind turbine at an optimal speed for a given wind speed to extract maximum power from a wind turbine generator system. Due to unpredictable wind speed fluctuations, operating at maximum power point is a difficult task to undertake. This paper presents a maximum power point tracking(More)
In this manuscript, we propose an adaptive fuzzy logic controller for a DC-DC boost converter with parametric and load uncertainties. The control strategy aims to achieve accurate voltage tracking with unknown dynamics, highly parameter and load variations, and no current sensing. Therefore, robustness to uncertainties of large magnitudes is achieved(More)
The well-known Brocket's theorem revealed that nonholonomic systems, hopping robots, for example, can not be stabilized by smooth time-invariant state feedback controllers. In this manuscript, we propose a linear time-varying state feedback controller for stabilizing a nonholonomic hopping robot during flight mode in finite time. The current approach is(More)
Consequent to authors' previous work on developing a coverage control algorithm using multiple autonomous agents/robots, this paper focuses on implementing real-time simulations of the previously published coverage control algorithm using differential drive mobile robots. Mobile robots are deployed in a planar area subject to a suitable nonuniform scalar(More)
This paper introduces a universal real-time control platform for complex research and development (R&D) based products design. The inherent complexity in R&D projects makes products development a difficult task to undertake. The use of state of the art development tools for modeling, simulation, and hardware-in-the-loop (HIL) validation contributes(More)
A cost-effective and easy-to-implement mobile robot navigation scheme in a virtual robot platform is proposed. The proposed scheme consists of two cascaded phases. In the first phase, the robot is supposed to estimate its pose (position and orientation) and build a map of its operating environment using a set of radio frequency (RF) sensors. In the second(More)
Among the major challenges in tracking a predefined trajectory of a nonholonomic mobile robot operating in indoor environments is to determine an appropriate feedback control. In the technical literature, numerous controllers have been proposed to date for solving trajectory tracking and/or regulation problems of mobile robots. Most of them are quite(More)