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In industrial control systems, practical interest is driven by the fact that today's processes need to be operated under tighter performance specifications. Often these demands can only be met when process nonlinearities are explicitly considered in the controller. Nonlinear predictive control, the extension of well-established linear predictive control to nonlinear systems, appears to be a well-suited approach for this kind of problems. In this paper, an optimal nonlinear predictive control structure,...
In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity...
This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. A fuzzy path tracking algorithm is also proposed. Both systems have been implemented in the ROMEO-4R vehicle developed at the University of Seville.
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