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Electrical and Electronic Engineering - Research Publications
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ItemNo Preview AvailableA Geometry-Based Distributed Connectivity Maintenance Algorithm for Discrete-time Multi-Agent Systems with Visual Sensing ConstraintsLi, X ; Fu, J ; Liu, M ; Xu, Y ; Tan, Y ; Xin, Y ; Pu, Y ; Oetomo, D (WORLD SCIENTIFIC PUBL CO PTE LTD, 2024-03)This paper presents a novel approach to address the challenge of maintaining connectivity within a multi-agent system (MAS) when utilizing directional visual sensors. These sensors have become essential tools for enhancing communication and connectivity in MAS, but their geometric constraints pose unique challenges when designing controllers. Our approach, grounded in geometric principles, leverages a mathematical model of directional visual sensors and employs a gradient-descent optimization method to determine the position and orientation constraints for each sensor based on its geometric configuration. This methodology ensures network connectivity, provided that initial geometric constraints are met. Experimental results validate the efficacy of our approach, highlighting its practical applicability for a range of tasks within MAS.
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ItemNo Preview AvailableStability of Nonlinear Systems with Two Time Scales Over a Single Communication ChannelWang, W ; Maass, AI ; Nešić, D ; Tan, Y ; Postoyan, R ; Heemels, WPMH (IEEE, 2023-01-01)
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ItemNo Preview AvailableOn Active Disturbance Rejection Control for Unmanned Tracked Ground Vehicles with Nonsmooth DisturbancesLiu, M ; Xu, Y ; Lin, X ; Tan, Y ; Pu, Y ; Li, W ; Oetomo, D (WORLD SCIENTIFIC PUBL CO PTE LTD, 2023-01-01)This paper proposes robust controllers for a class of unmanned tracked ground vehicles (UTGVs), which are built to autonomously clean carryback or spillage from the conveyor belts used in the mining industry. The UTGV, a nonholonomic system in its nature, needs to follow a given path in a harsh environment with large uncertainties due to the time-varying mass and inertia when the UTGV loads and unloads as well as unknown frictions and flatness of the ground. Moreover, the input constraints coming from motors do exist. It is usually hard to design robust controllers for such complex systems. By utilizing the available autonomous driving system, which is designed to be compatible with the existing remote motion controller in unmanned systems to generate autonomous ability, this paper uses the off-the-shelf motion planner to calculate desired linear and angular velocities based on the given path and sensor perceptions. Consequently, the control design can be simplified as two decoupled linear time-invariant scalar dynamic systems with uncertainties, making the active disturbance rejection controller (ADRC) applicable. By carefully designing the parameters of ADRC with the help of an extended state observer (ESO), it is shown that the proposed ADRC and ESO can achieve good tracking performance in the presence of input saturation and can handle nonsmooth disturbances. The proposed simulation results and experimental results support the theoretical findings.
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ItemInput-mapping based data-driven model predictive control for unknown linear systems via online learningYang, L ; Li, D ; Ma, A ; Xi, Y ; Pu, Y ; Tan, Y (WILEY, 2022-01-01)
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ItemNo Preview AvailableA Multi-Processor Implementation for Networked Control SystemsMaass, AI ; Wang, W ; Nesic, D ; Tan, Y ; Postoyan, R (IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2023)
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ItemNo Preview AvailableOn state estimation for nonlinear systems under random access wireless protocolsMaass, AI ; Nesic, D ; Postoyan, R ; Tan, Y (SPRINGER LONDON LTD, 2023-03-01)This article is dedicated to Eduardo D. Sontag on the occasion of his 70th birthday. We build upon fundamental stability concepts developed by Sontag, such as input-to-state stability and its related properties, to study a relevant application in industrial internet of things, namely estimation for wireless networked control systems. Particularly, we study emulation-based state estimation for nonlinear plants that communicate with a remote observer over a shared wireless network subject to packet losses. To reduce bandwidth usage, a stochastic communication protocol is employed to determine which node should be given access to the network. Each node has a different successful transmission probability. We describe the overall closed-loop system as a stochastic hybrid model, which allows us to capture the behaviour both between and at transmission instants, whilst covering network features such as random transmission instants, packet losses and stochastic scheduling. We then provide sufficient conditions on the transmission rate that guarantee an input-to-state stability property (in expectation) for the corresponding estimation error system. We illustrate our results in the design of circle criterion observers.
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ItemAveraging for nonlinear systems on Riemannian manifoldsTaringoo, F ; Nesic, D ; Tan, Y ; Dower, PM (IEEE, 2013)This paper provides a derivation of the averaging methods for nonlinear time-varying dynamical systems defined on Riemannian manifolds. We extend the results on ℝ n to Riemannian manifolds by employing the language of differential geometry.
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ItemNo Preview AvailableSufficient conditions for stabilization of sampled-data linear spatially distributed parameter systems via discrete time approximationsTan, Y ; Nešić, D (IEEE, 2007-09-27)
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ItemSampled-data output feedback control of distributed parameter systems via semi-discretization in spaTan, Y ; Nesic, D (IFAC, 2008-12-01)
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ItemPoint-wise extremum seeking control scheme under repeatable control environmentTan, Y ; Mareels, I ; Nešić, D ; Xu, JX (IEEE, 2007-01-01)