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An H ∞ based robust controller is designed for a rate-feedback ow-control problem in single-bottleneck communication networks. The controller guarantees stability robustness to uncertain time-varying multiple time-delays in diierent channels. It also brings the queue length at the bottleneck node to the desired steady-state value asymptotically and satisÿes… (More)
This study describes the development of an attitude control system for a quadrotor flying robot. In this paper, we introduces the linearized mathematical model from experimental data using system identification method and design of the optimal control. And then we verify the control system through simulation and performing the experimental tests.
In this paper, we suggest a vision-based SLAM (simultaneous localization and mapping) method to improve navigation performance of mobile robot, which is used 2 encoders to calculate its position. If mobile robot is in building, tunnel or under ground facility, it is difficult to obtain navigation information from GPS only navigation system, because there… (More)
In a recent work by the authors, an H 1 based ow controller was designed for explicit rate based congestion control in high speed networks. Time delay uncertainties were taken into account when the controller was designed. This paper studies robustness margins, e.g. largest allowable time delay, as functions of a weighting parameter used in the deenition of… (More)
Fish-like robot is considered to be one of the candidates in the future underwater vehicle design for marine exploration and surveillance. In the BCF propulsion type, the ostraciiform swimming mode permits the robot to have a simple mechanical design and control strategy for swimming. Propulsion is achieved by flapping the caudal fin and the turning motion… (More)
The reliability of a navigation system is one of the critical requirements for air or automotive navigation. In order to increase the reliability of the navigation system, failures or faults resulting from the malfunctions of the system should be detected and repaired to keep the system possessing high integrity. This leads to a need for developing high… (More)
In this paper, we introduce a new design approach for self-sustained resonant acceleration, that uses an automatic gain control (AGC) to achieve a stabilized oscillation dynamics. Fundamental idea of this acceleration is to maintain uniform amplitude of oscillation. Through system modeling and loop transformation considering the envelope of oscillation, the… (More)
This paper presents how to use feedback controller with helicopter state space model. We design the LQR controller to obtain controller gain matrix and used it for simulation. Our approach is simple and gives the basic understanding about how to develop controller for solving the stability of linear helicopter flight dynamics.
In this study, we conduct experimental and consecutive numerical analyses of a flapping tidal current generator with a mirror-type dual configuration with front-swing and rear-swing flappers. An experimental analysis of a small-scale prototype is conducted in a towing tank, and a numerical analysis is conducted by means of two-dimensional computational… (More)
The ostraciiform swimming mode utilizes the caudal fin flapping to achieve piscine propulsion with turning maneuverability. Mechanism can be mimicked and implemented in underwater vehicles and it is necessary to know the energy efficiency of this swimming mode for durability consideration. Present study consists the energy efficiency of a servomotor… (More)