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Nonlinear decentralized control of large-scale power systems
Global time-varying stabilization of underactuated surface vessel
This note considers the stabilization problem of an underactuated surface vessel and proposes three global smooth time-varying control laws that make the state of the closed-loop system globally exponentially converge to zero.
A distributed and optimal motion planning approach for multiple mobile robots
This work proposes a distributed and optimal motion planning algorithm for multiple robots that explicitly optimizes performance functions through a distributed implementation and is one of the few that is capable of handling outdoor rough terrain environments and real time replanning.
Performance-based rough terrain navigation for nonholonomic mobile robots
- Yi Guo, L. Parker, D. Jung, Z. Dong
- EngineeringIECON'03. 29th Annual Conference of the IEEE…
- 2 November 2003
This paper addresses path planning and control of mobile robots in rough terrain environments by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture so that performance issues are adequately addressed.
An H∞ almost disturbance decoupling robust controller design for a piezoelectric bimorph actuator with hysteresis
- Ben M. Chen, Tong-heng Lee, C. Hang, Yi Guo, S. Weerasooriya
- EngineeringIEEE Trans. Control. Syst. Technol.
- 1 March 1999
A robust controller design for a piezoelectric bimorph nonlinear actuator is considered, which can be tuned by adjusting the parameters to achieve disturbance decoupling and other design goals for the problem that it considers.
Coverage control for a mobile robot patrolling a dynamic and uncertain environment
In mobile robot applications such as cleaning and security patrolling, a fundamentally important problem is to design feasible trajectories and steering control so that the robot moves collision-free…
Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems
Global Transient Stability and Voltage Regulation for Power Systems
Summary form only given as follows. This paper is concerned with the global control of power systems. It arises from the practical concern that transient stability and voltage regulation are both…
Formation control of nonholonomic mobile robots
In this paper, formation control of a group of nonholonomic wheeled robots was considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are…
Consensus on scale-free network
This paper addresses the consensus on scale-free network, known as more robust and immune to the random mutation and perturbation than (binomial) random network, on different categories, on fixed/switching topology, on undirected/directed graph based on martingale convergence theorem.