In this paper, we utilize a Lyapunov-based design approach to construct a visual servoing controller for a robot manipulator that ensures uniformly ultimately bounded (UUB) endeffector position tracking performance despite parametric uncertainty throughout the entire robot/camera system. The UUB end-effector tracking result exploits information from both a fixed camera and a camera-in-hand, alt...

This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar mot...

This paper addresses the problem of adaptive fuzzy tracking control for aclass of nonlinearly parameterized systems with unknown control directions.In this paper, the nonlinearly parameterized functions are lumped into the unknown continuous functionswhich can be approximated by using the fuzzy logic systems (FLS) in Mamdani type. Then, the Nussbaum-type function is used to de...

The adaptive hybrid function projective synchronization AHFPS of different chaotic systems with unknown time-varying parameters is investigated. Based on the Lyapunov stability theory and adaptive bounding technique, the robust adaptive control law and the parameters update law are derived to make the states of two different chaotic systems asymptotically synchronized. In the control strategy, ...

In this paper, we design a nonlinear controller for the kinematic model of an underactuated rigid spacecraft that ensures uniform, ultimately bounded (UUB) tracking provided the initial errors are selected sufficiently small. The result is achieved via a judicious formulation of the spacecraft kinematics and the novel design of a Lyapunov-based controller. We also discuss how standard backstepp...

Approximate/adaptive dynamic programming (ADP) has been studied extensively in recent years for its potential scalability to solve large state and control space problems, including those involving continuous states and continuous controls. The applicability of ADP algorithms, especially the adaptive critic designs has been demonstrated in several case studies. Direct heuristic dynamic programmi...

This paper examines saturated control of a general class of uncertain nonlinear systems with timedelayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov–Krasovskii (LK) functionals is provided to prove uniformly ultimately bounded tracking despite un...

According to biological strategy for pest control, we investigate the dynamic behavior of a pest management SEI model with nonlinear incidence concerning impulsive strategyperiodic releasing infected pests at fixed times. We prove that all solutions of the system are uniformly ultimately bounded and there exists a globally asymptotically attractive pest-eradication periodic solution when the im...

In this paper, a novel adaptive dynamic programming (ADP)-based event-triggered safe control method is proposed to solve the zero-sum game problem of nonlinear safety-critical systems with safety constraints and input saturation. First, barrier function-based system transformation, saturation transformed into an equivalent problem, so as guarantee that does not violate constraints. Furthermore,...

In this paper, an online optimal control scheme for a class of unknown discrete-time (DT) nonlinear systems is developed. The proposed algorithm using current and recorded data to obtain the optimal controller without the knowledge of system dynamics. In order to carry out the algorithm, a neural network (NN) is constructed to identify the unknown system. Then, based on the estimated system mod...