We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not k...

The accuracy of short-term wind speed prediction is very important for wind power generation. In this paper, a hybrid method combining ensemble empirical mode decomposition (EEMD), adaptive neural network based fuzzy inference system (ANFIS) and seasonal auto-regression integrated moving average (SARIMA) is presented for short-term wind speed forecasting. The original wind speed series is decom...

This paper describes a comprehensive and systematic framework for building mixed continuous/discrete, i.e., hybrid physical system models. Hybrid models are a natural representation for embedded systems (physical systems with digital controllers) and for complex physical systems whose behavior is simplified by introducing discrete transitions to replace fast, often nonlinear dynamics. In this p...

C2E2 is a bounded reachability analysis tool for nonlinear dynamical systems and hybrid automaton models. Previously it required users to annotate each system of differential equations of the hybrid automaton with discrepancy functions, and since these annotations are difficult to get for general nonlinear differential equations, the tool had limited usability. This version of C2E2 is improved ...

In this paper we apply hybrid functions of general block-pulse‎ ‎functions and Legendre polynomials for solving linear and‎ ‎nonlinear multi-order fractional differential equations (FDEs)‎. ‎Our approach is based on incorporating operational matrices of‎ ‎FDEs with hybrid functions that reduces the FDEs problems to‎ ‎the solution of algebraic systems‎. ‎Error estimate that verifies a‎ ‎converge...

against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (ins/radar). this filter involves the concept of residual-based adaptive estimation and adaptive fading kalman filter and tunes dynamically the fil...

Probabilistic hybrid discrete/continuous models, such as Concurrent Probabilistic Hybrid Automata (CPHA) are convenient tools for modeling complex robotic systems. In this paper, we present a novel method for estimating the hybrid state of CPHA that achieves robustness by balancing greedy and stochastic search. To accomplish this, we 1) develop an efficient stochastic sampling approach for CPHA...

the aim of the paper is to analyze electro-thermo nonlinear vibration of a double-piezoelectric composite microplate-system (dpcmps) based on nonlocal piezoelasticity theory. the two microplates are assumed to be connected by an enclosing elastic medium which is simulated by pasternak foundation. both of smart composite microplates are made of poly-vinylidene fluoride (pvdf) reinforced by zigza...

In this paper we present two strategies to design a hybrid controller for a system described by several nonlinear vector fields. Besides the overall goal to find a controller that stabilizes the closed-loop hybrid system, the selection will also be made in such a way that an exponentially stable closed-loop system is obtained. The design strategies are based on stated stability and exponential ...

The application of formal methods to analog and mixed signal circuits requires efficient methods for constructing abstractions of circuit behaviors. This paper concerns the verification of properties of oscillator circuits. Generic monitor automata are proposed to facilitate the application of hybrid system reachability computations to characterize time domain features of oscillatory behavior, ...