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Your search keyword '"Han, Thanh-Trung"' showing total 16 results
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16 results on '"Han, Thanh-Trung"'

1. Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

Author

Nguyen, Thang, La, Hung, Azimi, Vahid, and Han, Thanh-Trung

Subjects
Computer Science - Robotics, Computer Science - Systems and Control
Abstract

There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol which is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.

Published
2017

6. Semiglobal ISpS disturbance attenuation with output tracking via direct adaptive design

Author

Ge, Shuzhi Sam and Han, Thanh-Trung

Subjects
Neural networks -- Analysis, Parametric devices -- Analysis, Neural network, Business, Computers, Electronics, Electronics and electrical industries
Abstract

Direct adaptive partial state feedback control is presented to achieve semiglobally input-to-state practically stable (ISpS) disturbance attenuation with output tracking for a class of uncertain time-varying nonlinear systems in which the unmeasured dynamics do not possess a constant disturbance attenuation level (CDAL). Identifying a necessary condition for the existence of a CDAL, direct adaptive neural networks (NNs) control is developed, where the universal approximation property of NNs and the domination design are employed together to overcome the difficulties due to the lack of state information, unknown system nonlinearities, and unknown state-dependent disturbance attenuation gain. The proposed method is coherent in the sense that it is applicable to the case in which a CDAL exists. Index Terms--Adaptive control, disturbance attenuation, input-to-state stability (ISS), neural network (NN) parametrization, semiglobal solutions.

Published
2007

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