In this paper we show that invariant center-unstable foliations are preserved in the Cj-topology under numerical approximations. Results on partial linearization are also given.

Based on kinematic and kinetic analyses of the 3-Degree of Freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H∞ robust controller based on...

The collinear Mecanum drive (CMD) is a novel robot locomotion system, capable of generating omnidirectional motion while simultaneously dynamically balancing, achieved using arrangement three or more wheels. CMD has significantly thinner ground footprint than existing methods, which does not need to be enlarged with increasing height as avoid toppling during acceleration external disturbance. T...

In this paper, Adomian decomposition method (ADM) and Laplace decomposition method (LDM) used to obtain series solutions of Burgers-Huxley and Burgers-Fisher Equations. In ADM the algorithm is illustrated by studying an initial value problem and LDM is based on the application of Laplace transform to nonlinear partial differential equations. In ADM only few terms of the expansion are required t...

The NARMA model is an exact representation of the input-output behavior of finitedimensional nonlinear discrete-time dynamical systems in the neighborhood of the equilibrium state. However, it is inconvenient for purposes of adaptive control due to its nonlinear dependence on the control input, even by using the neural network method. In this paper, we introduce a so called model-free adaptive ...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

Abstract—This paper presents a new method to design nonlinear feedback linearization controller for PEMFCs (Polymer Electrolyte Membrane Fuel Cells). A nonlinear controller is designed based on nonlinear model to prolong the stack life of PEMFCs. Since it is known that large deviations between hydrogen and oxygen partial pressures can cause severe membrane damage in the fuel cell, feedback line...