Brandy Alger - Academia.edu (original) (raw)
Papers by Brandy Alger
IEEE Access, 2019
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to ... more Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in the real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. The examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states. INDEX TERMS Nonholonomic system, sampled-data output feedback controller, lower-triangular growth condition, two-dimensional z-states.
It is imperative to find a sampled-data controller for nonholonomic systems due to their implemen... more It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. Nonholonomic systems in chained form are sufficiently important to research via the numerous real world applications, mobile robots being one of the biggest. Moreover, due to the presence of uncertain nonlinearities, most of the existing design methods are inapplicable to these systems. It has been proven that under a lower-triangular growth condition, a class of uncertain nonlinear systems can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, using a change of coordinates and combining the recently developed sampled-data output feedback control method, we first design a sampled-data output feedback controller to stabilize the nonholonomic system with a single z-state. For nonholonomic systems with two-dimensional z-states, the output feedback control problem becomes much more challenging since the boundedness of the change of coordinates is not proved; we shall consider this in future works. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for a single z-state.
IEEE Access, 2019
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to ... more Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states.
2014 American Control Conference, 2014
It is imperative to find a sampled-data controller for nonholonomic systems due to their implemen... more It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. Nonholonomic systems in chained form are sufficiently important to research via the numerous real world applications, mobile robots being one of the biggest. Moreover, due to the presence of uncertain nonlinearities, most of the existing design methods are inapplicable to these systems. It has been proven that under a lower-triangular growth condition, a class of uncertain nonlinear systems can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, using a change of coordinates and combining the recently developed sampled-data output feedback control method, we first design a sampled-data output feedback controller to stabilize the nonholonomic system with a single z-state. For nonholonomic systems with two-dimensional z-states, the output feedback control problem becomes much more challenging since the boundedness of the change of coordinates is not proved; we shall consider this in future works. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for a single z-state.
2013 IEEE Frontiers in Education Conference (FIE), 2013
We have created Just in Time Math (JITM) course for freshmen engineering students who show defici... more We have created Just in Time Math (JITM) course for freshmen engineering students who show deficiency in math. The result has shifted the traditional emphasis on math prerequisite requirements for engineering classes to an emphasis on engineering motivation for math, with a "just-in-time" structuring of the new math sequence. Students still have to follow the traditional math sequences, however, the prerequisites for some of the core engineering courses have changed from Calculus I to the newly developed Math classes. We have also incorporated engineering examples into the traditional and engineering mathematics courses. Since 2009, we have been offering cohorts of about 25 engineering freshmen every fall on a voluntary basis. The preliminary results indicate moderate improvements in the retention rate and GPA of participating students.
IEEE Access, 2019
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to ... more Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in the real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. The examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states. INDEX TERMS Nonholonomic system, sampled-data output feedback controller, lower-triangular growth condition, two-dimensional z-states.
It is imperative to find a sampled-data controller for nonholonomic systems due to their implemen... more It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. Nonholonomic systems in chained form are sufficiently important to research via the numerous real world applications, mobile robots being one of the biggest. Moreover, due to the presence of uncertain nonlinearities, most of the existing design methods are inapplicable to these systems. It has been proven that under a lower-triangular growth condition, a class of uncertain nonlinear systems can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, using a change of coordinates and combining the recently developed sampled-data output feedback control method, we first design a sampled-data output feedback controller to stabilize the nonholonomic system with a single z-state. For nonholonomic systems with two-dimensional z-states, the output feedback control problem becomes much more challenging since the boundedness of the change of coordinates is not proved; we shall consider this in future works. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for a single z-state.
IEEE Access, 2019
Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to ... more Nonholonomic systems with uncertain nonlinearities are sufficiently important to research due to the numerous applications in real world. It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. It has been proven that under a lower-triangular growth condition, a class of nonholonomic system with a single z-state can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, we will further extend the results to the two-dimensional z-states which is more challenging since the boundedness of the change of coordinates is not proved. To solve this problem, we firstly design a controller for the z-system, which can guarantee the boundedness of the change of coordinates after a certain time. From this, we can construct a globally stabilizing output feedback controller for nonholonomic systems. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for the two-dimensional z-states.
2014 American Control Conference, 2014
It is imperative to find a sampled-data controller for nonholonomic systems due to their implemen... more It is imperative to find a sampled-data controller for nonholonomic systems due to their implementation within digital computers. Nonholonomic systems in chained form are sufficiently important to research via the numerous real world applications, mobile robots being one of the biggest. Moreover, due to the presence of uncertain nonlinearities, most of the existing design methods are inapplicable to these systems. It has been proven that under a lower-triangular growth condition, a class of uncertain nonlinear systems can be globally stabilized by a sampled-data output feedback controller whose observer and control laws are discrete-time and linear. In this paper, using a change of coordinates and combining the recently developed sampled-data output feedback control method, we first design a sampled-data output feedback controller to stabilize the nonholonomic system with a single z-state. For nonholonomic systems with two-dimensional z-states, the output feedback control problem becomes much more challenging since the boundedness of the change of coordinates is not proved; we shall consider this in future works. Examples and computer simulations were conducted to show the effectiveness of the proposed controllers for a single z-state.
2013 IEEE Frontiers in Education Conference (FIE), 2013
We have created Just in Time Math (JITM) course for freshmen engineering students who show defici... more We have created Just in Time Math (JITM) course for freshmen engineering students who show deficiency in math. The result has shifted the traditional emphasis on math prerequisite requirements for engineering classes to an emphasis on engineering motivation for math, with a "just-in-time" structuring of the new math sequence. Students still have to follow the traditional math sequences, however, the prerequisites for some of the core engineering courses have changed from Calculus I to the newly developed Math classes. We have also incorporated engineering examples into the traditional and engineering mathematics courses. Since 2009, we have been offering cohorts of about 25 engineering freshmen every fall on a voluntary basis. The preliminary results indicate moderate improvements in the retention rate and GPA of participating students.