In this paper, the ultimately exponentially bounded estimate problem of nonlinear stochastic discrete−time systems under generalized Lipschitz conditions is considered. A new sufficient condition making estimation error system uniformly in mean square sense given. The gain matrix can be obtained by solving inequality. last section, numerical examples are provided verify effectiveness conclusions.

This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with d...

Reinforcement learning (RL) is promising for complicated stochastic nonlinear control problems. Without using a mathematical model, an optimal controller can be learned from data evaluated by certain performance criteria through trial-and-error. However, the data-based approach notorious not guaranteeing stability, which most fundamental property any system. In this paper, classic Lyapunov’s me...

A compensation scheme is presented to compensate the effect of dead-zone nonlinearity in a class of uncertain discrete-time nonlinear systems. Chebyshev Neural Network (CNN) is utilized to compensate the dead-zone nonlinearity and the unknown nonlinear functions are also approximated. The control design is attained by introducing dead-zone nonlinearity and using it in the controller design with...

In this paper, a backstepping sampled data control method is developed for flexible robotic manipulator whose internal dynamic completely unknown. To address the uncertainties, fuzzy logical system (FLS) considered. Moreover, considering limited network bandwidth, designed controller and adaptive laws only contain with fixed period. By invoking Lyapunov stability theory, all signals of are semi...

This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an auxiliary wheel velocity controller to make the tracking errors, which includes the velocity tracking error, the angular velocity tra...

In this paper the contr ol of exible joint manipulators is studie d in detail A composite contr ol algorithm is pro posed for the exible joint robots which consists of two main parts Fast contr ol uf which guar antees that the fast dynamics remains asymptotically stable and the corre sponding integral manifold remains invariant Slow control us itself consists of a robust PID designed based on t...

This paper deals with ultimate bounded stability analysis and stabilization conditions for systems involving input saturation and quantized control law, which corresponds to the state quantization case. The state feedback control design problem is then addressed. Theoretical results to ensure the ultimate boundedness and the L2 stability of the closed-loop system are presented both in local as ...

Adaptive critic (AC) based controllers are typically discrete and/or yield a uniformly ultimately bounded stability result because of the presence of disturbances and unknown approximation errors. A continuous-time AC controller is developed that yields asymptotic tracking of a class of uncertain nonlinear systems with bounded disturbances. The proposed AC-based controller consists of two neura...

we investigate the stability of generalizedderivations on banach algebras with a bounded central approximateidentity. we show that every approximate generalized derivation inthe sense of rassias, is an exact generalized derivation. also thestability problem of generalized derivations on the faithful banachalgebras is investigated.