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Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
TLDR
The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from LaSalle's invariance principle. Expand
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Reliable control of nonlinear systems
TLDR
In this paper, we extend Veillette's results (1995) to the study of reliable linear-quadratic regulator problem for nonlinear systems by employing the Hamilton-Jacobi inequality. Expand
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A Generalization of Krasovskii-LaSalle Theorem for Nonlinear Time-Varying Systems: Converse Results and Applications
  • T. Lee, Z. Jiang
  • Mathematics, Computer Science
  • IEEE Trans. Autom. Control.
  • 8 August 2005
TLDR
This paper presents a practically applicable characterization of uniform (global) asymptotic stability (UAS and UGAS) for general nonlinear time-varying systems, under certain output-dependent conditions in the spirit of the Krasovskii-LaSalle theorem. Expand
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Analyzing the Stability of Switched Systems Using Common Zeroing-Output Systems
TLDR
This paper introduces the notion of common zeroing-output systems (CZOS) to analyze the stability of switched systems with complex switching signals. Expand
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Adaptive control in robotic systems with H∞ tracking performance
TLDR
The problem of the adaptive model reference tracking control with guaranteed H^~ performance is solved for rigid robotic systems with unknown parameters and external disturbances. Expand
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Adaptive tracking control of nonholonomic mobile robots by computed torque
TLDR
A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. Expand
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On the equivalence relations of detectability and PE conditions with applications to stability analysis of time-varying systems
  • T. Lee
  • Mathematics
  • Proceedings of the American Control Conference…
  • 4 June 2003
The paper investigates equivalent relations of detectability and persistency of excitation (PE) for general nonlinear time-varying systems. Three new definitions relating to the detectability areExpand
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New cascade approach for global /spl kappa/-exponential tracking of underactuated ships
  • T. Lee, Z. Jiang
  • Mathematics, Computer Science
  • IEEE Transactions on Automatic Control
  • 1 December 2004
TLDR
This note investigates the fast tracking control problem of underactuated ships via persistent excitation (PE) conditions. Expand
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A general stability criterion for time-varying systems using a modified detectability condition
  • T. Lee, B. Chen
  • Mathematics, Computer Science
  • IEEE Trans. Autom. Control.
  • 7 August 2002
TLDR
Uniform asymptotic stability for general nonlinear time-varying systems is investigated from the output-to-state viewpoint using a modified detectability condition and integral inequalities. Expand
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Stability and Persistent Excitation in Signal Sets
TLDR
A new PE condition is proposed with three basic ingredients: a signal set to represent a family of time functions; a pseudo distance measure to describe the convergence; and some binary relations (e.g., state-to-output relations). Expand
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