We consider a family of damped quasi-Newton methods for solving unconstrained optimization problems. This family resembles that of Broyden with line searches, except that the change in gradients is replaced by a certain hybrid vector before updating the current Hessian approximation. This damped technique modifies the Hessian approximations so that they are maintained sufficiently positive defi...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

In this paper, we propose a frequency division multiplexing (FDM) diversity waveform technique to achieve a delayDoppler response that approximates the composite ambiguity function (CAF) in a multiple target scenario. First, a channel estimate based on maximum likelihood estimation (MLE) for each subband is provided, and the signal to noise power ratio (SNR) needed to achieve the specific varia...

Optimum design of structures is achieved while the design variables are continuous and discrete. To reduce the computational work involved in the optimization process, all the functions that are expensive to evaluate, are approximated. To approximate these functions, a semi quadratic function is employed. Only the diagonal terms of the Hessian matrix are used and these elements are estimated fr...

In this paper, we use a numerical method involving collocation method with third B-splines as basis functions for solving a class of singular initial value problems (IVPs) of Lane--Emden type equation. The original differential equation is modified at the point of singularity. The modified problem is then treated by using B-spline approximation. In the case of non-linear problems, we first line...

In this paper, we introduce a Takagi-Sugeno (TS) fuzzy model which is derived from a typical Multi-Layer Perceptron Neural Network (MLP NN). At first, it is shown that the considered MLP NN can be interpreted as a variety of TS fuzzy model. It is discussed that the utilized Membership Function (MF) in such TS fuzzy model, despite its flexible structure, has some major restrictions. After modify...

In this paper, one of the simplest and most regular members of the family of the Meshless Local Petrov-Galerkin (MLPG) methods; namely MLPG5, is applied to analyze the thick-walled isotropic laminated cylinders under elasto-static pressure. A novel simple technique is proposed to eliminate a very important difficulty of the meshless methods to deal with material discontinuities regarding to the...