An universal controller is constructed, formulated in input–output terms only, which causes the output of any uncertain smooth single-input–single-output (SISO) minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. The approach being based on higher-order finite-ti...

We present a new proximity control bundle algorithm to minimize nonsmooth and nonconvex locally Lipschitz functions. In contrast with the traditional oracle-based methods in nonsmooth programming, our method is model-based and can accommodate cases where several Clarke subgradients can be computed at reasonable cost. We propose a new way to manage the proximity control parameter, which allows u...

An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. The approach being based on higher-order finite-time-convergence sliding modes,...

We address the reconstruction of the full photon distribution of multimode fields generated by seeded parametric down-conversion (PDC). Our scheme is based on on/off avalanche photodetection assisted by maximum-likelihood (MaxLik) estimation and does not involve photon counting. We present a novel constrained MaxLik method that incorporates the request of finite energy to improve the rate of co...

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter ...

In this paper, the convergence of parameter estimates and the interactions among the two adaptive fuzzy systems constituting an indirect adaptive fuzzy controller are studied, both analytically and by means of simulations with a second-order nonlinear system. The analytical results and the simulations, performed with various initial conditions and learning rates, highlight how the interactions ...

In this paper, an improved ant colony optimization (ACO) algorithm is proposed to enhance the performance of global optimum search. The strategy of the proposed algorithm has the capability of fuzzy pheromone updating, adaptive parameter tuning, and mechanism resetting. The proposed method is utilized to tune the parameters of the fuzzy controller for a real beam and ball system. Simulation and...

Aiming at the speed regulation problem of permanent magnet synchronous motor (PMSM) drives, a novel backstepping nonsingular terminal sliding mode control (BNTSMC) method with finite-time disturbance observer (FTDO) is proposed. In order to ensure excellent tracking and anti-disturbance performance, controller based on equivalent model recursive principle designed for PMSM. The benefits this ap...