Model following control design based on sum-of-squares programming

Abstract

In this paper, a novel model following method based on sum of squares technique is proposed. The explicit model following (EMF) method had been developed more than three decades. However, the linearized mechanism and choice of LQ weighting matrices lead the controller into local optimum. Based on the model following schematism, a Lyapunov direct method is employed to stabilize the physical system instead of LQ regulation in our proposed control strategy. Moreover, the sum of squares programming (SOSP) optimization method is capable of optimal Lyapunov function assessment. The benefit of our proposed nonlinear controller is not merely designed systematical, but also stable globally. Finally, a four-wheel and front steering mechanism is employed to demonstrate the performance of our proposed control strategy.Keywords-Model following, Sum of squares programming, Lyapunov method, Vehicle dynaimcs.

Indoor Map Building by Laser Sensor and Positioning Algorithms

“…The positioning method currently known and widely used are laser scanning positioning system, odometer calculation positioning systems, image video positioning system, and ultrasonic sensing system [6]- [7]. G. Gallegos [8] described a composite sensor approach that combines the information given by an omnidirectional camera and a laser range finder to efficiently solve the indoor simultaneous localization and mapping problem and reconstruct a 3D representation of the environment.…”