This paper addresses the design of a nonlinear time-invariant, dynamic state feedback receding horizon controller, which guarantees constraint satisfaction, robust stability and offset-free control of constrained, linear time-invariant systems in the presence of time-varying setpoints and unmeasured, persistent, additive disturbances. First, this objective is obtained by designing a dynamic, li...

After earthquake, the road conditions are usually unknown and hazard, which pose a great challenge for mobile robots to plan paths and reach the goal position safely for rescue operations. This paper presents a target attraction based ant colony (TAAC) algorithm for the dynamic path planning of mobile robots operated in rescue missions. The global information of the road map is deployed to esta...

This paper continues our investigations into the period-three route to chaos exhibited in the passive dynamic walking of a compass-gait biped robot [8]. The further analysis on the resulting chaos is made by Lyapunov exponents and fractal dimension. The chaotic attractor, its first return and its basin of attraction are presented. In addition, the study of the period-3 passive gait is also perf...

Many animal groups, for example schools of fish or flocks of birds, exhibit complex dynamic patterns while moving cohesively in the same direction. These flocking patterns have been studied using self-propelled particle models, most of which assume that collective motion arises from individuals aligning with their neighbours. Here, we propose a self-propelled particle model in which the only so...

In this paper we derive a condition for robust local stability of multilayer recurrent neural networks with two hidden layers. The stability condition follows from linking theory about linearization, robustness analysis of linear systems under nonlinear perturbation and matrix inequalities. A characterization of the basin of attraction of the origin is given in terms of the level set of a quadr...

Previous studies of perceived attraction or repulsion of adjacent visual targets have used local targets whose positions were varied in both depth and direction. We have measured these effects in three subjects using dynamic random-dot stereograms to isolate depth-axis effects. Results show that both attraction and repulsion effects can occur for overlapping, positively correlated, random-dot s...

Legged passive dynamic systems that can exhibit a periodic gait that is inherently stable, provide highly desirable templates for the creation of robust legged robotic systems. However, even if a stable limit cycle exists, the system will be unable to recover if a disturbance is large enough. Hence it would be useful to know exactly which states evolve towards the limit cycle and which states l...

In a proper vertex coloring of a graph a subgraph is colorful if its vertices are colored with different colors. It is well-known that in every proper coloring of a k-chromatic graph there is a colorful path Pk on k vertices. If the graph is k-chromatic and triangle-free then in any proper coloring there is also a path Pk which is an induced subgraph. N.R. Aravind conjectured that these results...

Prior research in neurally-inspired perceptron predictors have shown significant improvements in branch prediction accuracy by exploiting correlations in long branch histories. However, systems with moderate hardware budgets typically restrict such perceptron predictors from correlating beyond 64 to 128 past branches and limit their capability to learn distant branch correlations, such as on th...