Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

General Decay for a Thermoelastic Problem of a Microbeam with Gurtin-Pipkin Thermal Law

In this paper, we study the well-posedness and the asymptotic stability of a one-dimensional thermoelastic microbeam system, where the heat conduction is given by Gurtin-Pipkin thermal law. We first establish the well-posedness of the system by using the semigroup arguments and Lumer-Phillips theorem. We then obtain an explicit and general formula for the energy decay rates through perturbed energy method and some properties of the convex functions.