Journal of the Chinese Institute of Engineers, 1993
Abstract In this paper, a new result on the robust stability region construction in the parameter... more Abstract In this paper, a new result on the robust stability region construction in the parameter space of linear uncertain systems is presented. Based on the concept of coordinate transformations in the parameter space and a simple optimization technique, ...
This note considers the robust stability of linear systems with output feedback controllers and t... more This note considers the robust stability of linear systems with output feedback controllers and time-varying uncertain paparmeters. the robust stability bounds for time-varying uncertain parameters are given using Lyapunov's method. When there are no uncertain parameters in the input and/or output matrices, it can be shown our result for continuous-time systems is the same as Zhou and Khargonekar, and the result for discrete-time systems is better than that of Kolla etal. when applied to the same example.
The 26th Chinese Control and Decision Conference (2014 CCDC), 2014
A simple and efficient time-based diagonal maze solver for classic and half-size micromouse conte... more A simple and efficient time-based diagonal maze solver for classic and half-size micromouse contesets is presented in this paper. The algorithm is first developed in the graphical user interface development environment (GUIDE) of MATLAB, and then used as a training and tutorial tool for students who are involved in contests oriented projects about intelligent mobile robots. It is also found that the firmware implementation of the algorithm in a dsPIC 16-bit microcontroller consumes just 4.2ms to finish searching for the best route from the start cell to the goal area in a 16×16 maze of classic micromouse contests.
Communications in Computer and Information Science, 2011
The development of a versatile kit to raise student interest in learning the implementation skill... more The development of a versatile kit to raise student interest in learning the implementation skills of intelligent mobile robots is presented in this paper. The kit is capable of solving micromouse mazes, line mazes, and following line tracks with different curvatures at different speed settings. It is first devised to be used in various project-oriented hands-on laboratory courses for students
2008 IEEE International Conference on Industrial Technology, 2008
Abstract This paper proposes a current-balancing technique to equalize the driving currents for m... more Abstract This paper proposes a current-balancing technique to equalize the driving currents for multiple cold-cathode fluorescent lamps (CCFLs) by modulating the fundamental components and harmonics in each lamp currents. First, we adopt a class D resonant ...
The 26th Chinese Control and Decision Conference (2014 CCDC), 2014
The wheeled robots have become the interesting and important training kits for students to learn ... more The wheeled robots have become the interesting and important training kits for students to learn to integrate those skills about hardware circuit designs, firmware programming, motion control, and path planning techniques in these past days. Therefore, a novel line maze robot kit with diagonal path planning capabilities is presented as an example in this paper to help students. The robot uses a 32-bit microcontroller with floating point processing unit to 1) detect the track curve by using optical sensors, 2) use gyro sensor to correct moving angles, 3) control the linear and angular velocities of the robot, and 4) plan a diagonal path from the start to the target. Although students could learn the above-mentioned topics in a special topic project, they may also design their own mechanical structures and hardware circuits to improve furthermore the performance of their robots, and they are happy to join to win prizes in related contests.
A systematic approach is given in this paper for analyzing the robust stability of uncertain time... more A systematic approach is given in this paper for analyzing the robust stability of uncertain time-delay systems controlled by output feedback. By checking the eigenvalues of a Hamiltonian matrix, the stability of nominal systems can be examined first. Then, for the nominally stable uncertain systems with multiple time delays, a new method using structured singular value technique is proposed for finding a set of uncertain parameters within which the systems remain stable. Moreover, an illustrative example is given to show the usefulness of the proposed approach.
The robust stability of linear systems with output feedback controllers and time-varying uncertai... more The robust stability of linear systems with output feedback controllers and time-varying uncertain parameters is considered. The robust stability bounds for time-varying uncertain parameters are given using the Lyapunov method. When there are no uncertain parameters in the input and/or output matrices, it is shown that the result for continuous-time systems is the same as that presented by K.M. Zhou
Journal of the Chinese Institute of Engineers, 1993
Abstract In this paper, a new result on the robust stability region construction in the parameter... more Abstract In this paper, a new result on the robust stability region construction in the parameter space of linear uncertain systems is presented. Based on the concept of coordinate transformations in the parameter space and a simple optimization technique, ...
This note considers the robust stability of linear systems with output feedback controllers and t... more This note considers the robust stability of linear systems with output feedback controllers and time-varying uncertain paparmeters. the robust stability bounds for time-varying uncertain parameters are given using Lyapunov's method. When there are no uncertain parameters in the input and/or output matrices, it can be shown our result for continuous-time systems is the same as Zhou and Khargonekar, and the result for discrete-time systems is better than that of Kolla etal. when applied to the same example.
The 26th Chinese Control and Decision Conference (2014 CCDC), 2014
A simple and efficient time-based diagonal maze solver for classic and half-size micromouse conte... more A simple and efficient time-based diagonal maze solver for classic and half-size micromouse contesets is presented in this paper. The algorithm is first developed in the graphical user interface development environment (GUIDE) of MATLAB, and then used as a training and tutorial tool for students who are involved in contests oriented projects about intelligent mobile robots. It is also found that the firmware implementation of the algorithm in a dsPIC 16-bit microcontroller consumes just 4.2ms to finish searching for the best route from the start cell to the goal area in a 16×16 maze of classic micromouse contests.
Communications in Computer and Information Science, 2011
The development of a versatile kit to raise student interest in learning the implementation skill... more The development of a versatile kit to raise student interest in learning the implementation skills of intelligent mobile robots is presented in this paper. The kit is capable of solving micromouse mazes, line mazes, and following line tracks with different curvatures at different speed settings. It is first devised to be used in various project-oriented hands-on laboratory courses for students
2008 IEEE International Conference on Industrial Technology, 2008
Abstract This paper proposes a current-balancing technique to equalize the driving currents for m... more Abstract This paper proposes a current-balancing technique to equalize the driving currents for multiple cold-cathode fluorescent lamps (CCFLs) by modulating the fundamental components and harmonics in each lamp currents. First, we adopt a class D resonant ...
The 26th Chinese Control and Decision Conference (2014 CCDC), 2014
The wheeled robots have become the interesting and important training kits for students to learn ... more The wheeled robots have become the interesting and important training kits for students to learn to integrate those skills about hardware circuit designs, firmware programming, motion control, and path planning techniques in these past days. Therefore, a novel line maze robot kit with diagonal path planning capabilities is presented as an example in this paper to help students. The robot uses a 32-bit microcontroller with floating point processing unit to 1) detect the track curve by using optical sensors, 2) use gyro sensor to correct moving angles, 3) control the linear and angular velocities of the robot, and 4) plan a diagonal path from the start to the target. Although students could learn the above-mentioned topics in a special topic project, they may also design their own mechanical structures and hardware circuits to improve furthermore the performance of their robots, and they are happy to join to win prizes in related contests.
A systematic approach is given in this paper for analyzing the robust stability of uncertain time... more A systematic approach is given in this paper for analyzing the robust stability of uncertain time-delay systems controlled by output feedback. By checking the eigenvalues of a Hamiltonian matrix, the stability of nominal systems can be examined first. Then, for the nominally stable uncertain systems with multiple time delays, a new method using structured singular value technique is proposed for finding a set of uncertain parameters within which the systems remain stable. Moreover, an illustrative example is given to show the usefulness of the proposed approach.
The robust stability of linear systems with output feedback controllers and time-varying uncertai... more The robust stability of linear systems with output feedback controllers and time-varying uncertain parameters is considered. The robust stability bounds for time-varying uncertain parameters are given using the Lyapunov method. When there are no uncertain parameters in the input and/or output matrices, it is shown that the result for continuous-time systems is the same as that presented by K.M. Zhou
Uploads
Papers