A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on system: unstructured forces exerted end-effector, slip reaction affecting platform wheels, unknown friction coming from joints directly driven by actuators undesirable caused singular configurations. In orde...

We present a novel approach for high-order accurate numerical differentiation on unstructured meshes of quadrilateral elements. To differentiate given function, an auxiliary function with greater smoothness properties is defined which when differentiated provides the derivatives original function. The method generalises traditional finite difference methods to arbitrary topology in any number d...

This work presents and analyzes space-time finite element methods on fully unstructured simplicial meshes for the numerical solution of parabolic optimal control problems. Using Babuška's theorem, we show well-posedness first-order optimality systems a typical model problem with linear state equations, but without constraints. is done both continuous discrete levels. Based these results, derive...

In this paper we develop a family of arbitrarily high-order non-oscillatory hybrid Discontinuous Galerkin(DG)-Finite Volume(FV) schemes for mixed-element unstructured meshes. Their key ingredient is switch between DG method and FV based on the CWENOZ scheme when invalid solutions are detected by troubled cell indicator checking unlimited solution. Therefore, high order accuracy offered preserve...