The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The...

The main objectives of this work are the development of simulation models and the synthesis of controllers for path following, in the scope of mobile robotics. The mathematical model of the mobile robot is nonlinear and subject to a set of constraints at the inputs of the system, as well as in its states. Therefore, hybrid control techniques integrated in a model predictive control strategy are...

* Correspondence: [email protected] Department of Basic Courses, Hebei Finance University, Baoding 071000, China Abstract This article is concerned with the following rational difference equation yn+1 = (yn + yn-1)/(p + ynyn-1) with the initial conditions; y-1, y0 are arbitrary positive real numbers, and p is positive constant. Locally asymptotical stability and global attractivity of the ...

The paper introduces a new vision-based range estimator for leader-follower formation control, based upon the Immersion and Invariance (I&I) methodology. The proposed reduced-order nonlinear observer is simple to implement, easy to tune and achieves global asymptotical convergence of the observation error to zero. Observability conditions for the leader-follower system are analytically derived ...

*Correspondence: [email protected] Key Laboratory of Electronic Equipment Structure Design of Ministry of Education, Xidian University, Xi’an, China School of Civil & Environmental Engineering, University of New South Wales, Sydney, Australia Abstract This paper investigates the problems of robust stability and stabilization of LTI fractional-order systems with poly-topic and two-norm bounded ...

In this paper we propose a generalized complex networks model, which concerns asymmetric network configuration including both neutral-type coupling delay and retarded-type one. The synchronization problem of this generalized complex networks is reformulated into the asymptotical stability problem of neutral delay functional differential equations. By introducing descriptor system transformation...

Synchronization is an emergent property in networks of interacting dynamical elements. Here we review some recent results on synchronization in randomly coupled networks. Asymptotical behavior of random matrices is summarized and its impact on the synchronization of network dynamics is presented. Robert May’s results on the stability of equilibrium points in linear dynamics are first extended t...

By using the theory of exponential dichotomy and Banach fixed point theorem, this paper is concerned with the problem of the existence and uniqueness of almost periodic solution in a harvesting Lotka-Volterra recurrent neural networks on time scales. To a certain extent, our work in this paper corrects the defect in [Y.G. Liu, B.B. Liu, S.H. Ling, The almost periodic solution of Lotka-Volterra ...

Synchronization is an emergent property in networks of interacting dynamical elements. Here we review some recent results on synchronization in randomly coupled networks. Asymptotical behavior of random matrices is summarized and its impact on the synchronization of network dynamics is presented. Robert May's results on the stability of equilibrium points in linear dynamics are first extended t...

This paper develops a PI-like interval type-2 (IT2) fuzzy maximum power point tracking (MPPT) control method for a class of wind power generation and battery charging systems with DC/DC buck converters. After the brief model descriptions of the wind power turbine, generator and DC/DC buck converter, the proposed MPPT controller is designed using IT2 fuzzy control logics and its asymptotical sta...