This article copes with vibration suppression and angular position tracking problems of a robotic manipulator system comprised of a rotating hub and a length-varying manipulator. To obtain precise dynamic response, the manipulator system is modeled in infinite-dimension with partial differential equations. S-curve acceleration/deceleration (S-CA/D) scheme is employed for speed regulation of the length-varying manipulator. Two novel observers are developed to estimate both the unknown disturbances and their time-derivatives, and two auxiliary systems are put forward to tackle input constraints. With assistance of the auxiliary systems and observers, two boundary control laws are put forward to manage vibration suppression and angular position tracking of the proposed manipulator system. Through Lyapunov's theory, the closed-loop system is proved to be bounded. Numerical simulations have displayed the effectiveness of the observers and boundary control laws.

In this note, we discuss the modeling and control of a class of Ito stochastic networked control systems (NCSs) with packet dropouts that are subject to time-varying sampling. The system under consideration is first modeled as a continuous-time system with input delay that is subject to double randomness via the input-delay approach. Then, by assuming the packet drop rate and recurring to the celebrated formula of total probability, an equivalent model which takes full advantage of probability distribution characteristics of both packet dropouts and sampling periods is established. In particular, the probability distribution values of the stochastic delay taking values in two given intervals can be explicitly obtained, which is of crucial importance to model and analyze the actual problem in NCSs. Based on that, robustly exponentially mean-square stability of the system with an H _∞ performance is guaranteed, an H _∞ controller design procedure is then proposed. Finally, a numerical simulation example is exploited to show the effectiveness and applicability of the results derived and some less conservative results are obtained.

Efficient intersection planning is one of the most challenging tasks for an autonomous vehicle at present. Politeness to other traffic participants and reaction to surrounding information are the key aspects that determine the performance of planning algorithm for an autonomous vehicle. In order to capture these aspects, we propose a planning framework, based on the partially observable Markov decision process (POMDP), to ensure social compliance and optimize the motion response of autonomous vehicles. The framework designs a novel POMDP model to ensure effective prediction of behavioral intentions and decision-making at intersections with no traffic signs and low traffic volume. Then, a deterministic planner is employed as the baseline to realize planning. Specifically, we consider both the driving position and the facing angle of the vehicle in real-world situations. At the same time, we utilize scattering methods for probability updating and intent determination to improve the algorithm’s adaptability to real-world scenarios. The proposed framework is evaluated in different scenarios to demonstrate its capabilities in terms of the interactive planning for an autonomous vehicle.

This paper aims to solve the scaled consensus problem of general linear multi-agent systems with non-uniform time-varying communication time-delay. The proposed consensus protocol is based on the low gain solution of a parametric algebraic Riccati equation. Based on the proposed consensus protocol, we obtain the sufficient condition for scaled consensus of multi-agent systems with communication time-delay. The results reveal that the upper bound of time-delay can be arbitrarily large if all poles of the system are zero. For the case of non-zero poles on the imaginary axis, the maximal admissible upper bound of the time-varying delay is provided. Simulation results are performed to demonstrate the scaled consensus performance of multi-agent systems.

This brief investigates the positive consensus of fractional-order interval networked systems with the order α meeting 0 <; α ≤ 1 and 1 <; α <; 2, respectively. Based on the theories of fractional stability and properties of Metzler matrix, by virtue of some rigorous theoretical analyses, the distributed control protocol is proposed and sufficient conditions of positive consensus for fractional-order interval networked systems with 0 <; α ≤ 1 are given, which have no connection with the order. What's more, the results can be extended to conditions without using the information of Laplacian matrix with respect to networked topology. Furthermore, sufficient conditions for the systems with 1 <; α <; 2 to reach positive consensus are presented in terms of linear matrix inequality. Finally, simulation examples are given to verify the effective of results.