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Showing papers presented at "Mediterranean Conference on Control and Automation in 2005"


Proceedings ArticleDOI
27 Jun 2005
TL;DR: A class of multi-agent systems consisting of mobile decisional agents that have to reach and maintain a formation in the space, by avoiding obstacles and not colliding among them is considered.
Abstract: A class of multi-agent systems consisting of mobile decisional agents that have to reach and maintain a formation in the space, by avoiding obstacles and not colliding among them is considered. The whole system is modelled as an undirected graph, where each agent is characterized by a time varying set of connected neighbors. Each agent, at each step of its motion, has to decide among three possible behaviors: formation reaching, collision avoidance, restoring its direction after the avoidance of collision. A decentralized controller with a hierarchical behavior decision strategy is proposed

15 citations


Proceedings Article
01 Jan 2005
TL;DR: A robust sliding mode controller has been designed ensuring the convergence of the system trajectories in a neighborhood of the origin of arbitrary width (independently of the backlash size), and theoretical results have been validated by simulation.
Abstract: This paper proposes a novel approach for the stabilization problem of a sandwich nonlinear system with a backlash nonlinearity between two dynamic blocks. To this purpose a robust sliding mode controller has been designed ensuring the convergence of the system trajectories in a neighborhood of the origin of arbitrary width (independently of the backlash size). Theoretical results have been validated by simulation

7 citations


Proceedings Article
27 Jun 2005
TL;DR: This is paper is dedicated to the synthesis of a multiple observer whose stability conditions are expressed in terms of linear matrix inequalities (LMI) and an example of simulation is given to illustrate the proposed method.
Abstract: This is paper is dedicated to the synthesis of a multiple observer. The considered system is represented by a (nonlinear) multiple model with unknown inputs. Stability conditions of such observer are expressed in terms of linear matrix inequalities (LMI). An example of simulation is given to illustrate the proposed method.

5 citations


Proceedings Article
01 Jan 2005
TL;DR: A new bound to the real parts (moduli) of the eigenvalues of matrices in the interval family are obtained, which provides a sufficient condition of stability and a way to compute an estimate of the stability margin, i.e. of the minimal destabilizing perturbation for the uncertain system.
Abstract: A new Gersgorin-type result on the location of the eigenvalues of a given matrix has been proved. On the basis of the inclusions there established, in this paper a new method is proposed for analyzing the stability of a class of uncertain linear systems, characterized by an interval family of dynamical matrices. As a result a new bound to the real parts (moduli) of the eigenvalues of matrices in the interval family are obtained. This bound immediately provides a sufficient condition of stability and a way to compute an estimate of the stability margin, i.e. of the minimal destabilizing perturbation for the uncertain system. A huge number of numerical experiments have been carried out to compare the method here proposed to others based on Gersgorin-type regions. The results show that in several cases it gives less conservative estimates than the other ones, thus suggesting that it may be a useful tool for the analysis of uncertain systems

4 citations



Proceedings Article
11 Jul 2005

1 citations