To alleviate the conservativeness of the stability criterion for Takagi-Sugeno （T-S） fuzzy time-delay systems, a new delay-dependent stability criterion was proposed by introducing a new augmented Lyapunov function ...To alleviate the conservativeness of the stability criterion for Takagi-Sugeno （T-S） fuzzy time-delay systems, a new delay-dependent stability criterion was proposed by introducing a new augmented Lyapunov function with an additional triple-integral term, which was firstly u3ed to derive the stability criterion for T-S fuzzy time-delay systems. By the same approach, the robust stability issue for fuzzy time-delay systems with uncertain parameters was also considered. On the other hand, in order to enhance the design flexibility, a new design approach for uncertain fuzzy time-delay systems under imperfect premise matching was also proposed, which allows the fuzzy controller to employ different membership functions from the fuzzy time-delay model. By the numerical examples, the proposed stability conditions are less conservative in the sense of getting larger allowable time-delay and obtaining smaller feedback control gains. For instance, when the allowable time-delay increases from 7.3 s to 12 s for an uncertain T-S fuzzy control system with time-delay, the norm of the feedback gains decreases from （34.299 2, 38.560 3） to （10.073 3, 11.349 0）, respectively. Meanwhile, the effectiveness of the proposed design method was illustrated by the last example with the robustly stable curves of system state under the initial condition of x（0） = [3 -1].展开更多
A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line seg...A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.展开更多
基金Project(61273095)supported by the National Natural Science Foundation of ChinaProject(135225)supported by the Academy of Finland
文摘To alleviate the conservativeness of the stability criterion for Takagi-Sugeno （T-S） fuzzy time-delay systems, a new delay-dependent stability criterion was proposed by introducing a new augmented Lyapunov function with an additional triple-integral term, which was firstly u3ed to derive the stability criterion for T-S fuzzy time-delay systems. By the same approach, the robust stability issue for fuzzy time-delay systems with uncertain parameters was also considered. On the other hand, in order to enhance the design flexibility, a new design approach for uncertain fuzzy time-delay systems under imperfect premise matching was also proposed, which allows the fuzzy controller to employ different membership functions from the fuzzy time-delay model. By the numerical examples, the proposed stability conditions are less conservative in the sense of getting larger allowable time-delay and obtaining smaller feedback control gains. For instance, when the allowable time-delay increases from 7.3 s to 12 s for an uncertain T-S fuzzy control system with time-delay, the norm of the feedback gains decreases from （34.299 2, 38.560 3） to （10.073 3, 11.349 0）, respectively. Meanwhile, the effectiveness of the proposed design method was illustrated by the last example with the robustly stable curves of system state under the initial condition of x（0） = [3 -1].
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2006AA040203)The National Natural Science Foundation of China(Grant No.60475032 and 60775062)the Program for New Century Excellent Talents in University(Grant No.NCET-07-0538)
文摘A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.
