Abstract: This paper considers an H∞ TS fuzzy state-derivative feedback controller for a class of nonlinear dynamical systems. A Takagi-Sugeno (TS) fuzzy model is used to approximate a class of nonlinear dynamical systems. Then, based on a linear matrix inequality (LMI) approach, we design an H∞ TS fuzzy state-derivative feedback control law which guarantees L2-gain of the mapping from the exogenous input noise to the regulated output to be less or equal to a prescribed value. We derive a sufficient condition such that the system with the fuzzy controller is asymptotically stable and H∞ performance is satisfied. Finally, we provide and simulate a numerical example is provided to illustrate the stability and the effectiveness of the proposed controller.
Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: In analyzing large scale nonlinear dynamical systems,
it is often desirable to treat the overall system as a collection of
interconnected subsystems. Solutions properties of the large scale
system are then deduced from the solution properties of the
individual subsystems and the nature of the interconnections. In this
paper a new approach is proposed for the stability analysis of large
scale systems, which is based upon the concept of vector Lyapunov
functions and the decomposition methods. The present results make
use of graph theoretic decomposition techniques in which the overall
system is partitioned into a hierarchy of strongly connected
components. We show then, that under very reasonable assumptions,
the overall system is stable once the strongly connected subsystems
are stables. Finally an example is given to illustrate the constructive
methodology proposed.