joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

abstract: gridlock is an extreme traffic state where vehicle cannot move at all. this research studies the development of gridlock by theoretical and numerical analysis. it is shown that the development of gridlock can be divided into several stages. the core of the development is the evolution of congestion loop. a congestion loop is comprised of a number of consecutively connected spillover l...

This paper is concerned with delay-dependent exponential stability analysis and stabilization for continuous-time T-S fuzzy Markovian jump systems with mode-dependent time-varying delay. By constructing a novel Lyapunov-Krasovskii functional and utilizing some advanced techniques, less conservative conditions are presented to guarantee the closed-loop system is mean-square exponentially stable....

Thermostable chitinases are useful for industrial and biotechnological applications. This paper reports the stabilization of chitinase from Serratia marcescens B4A through rational mutagenesis. Changing of Ser 390 to Ile in S. marcescens. The stabilization was enhanced through entropic stabilization by reduction of the loop length and also by increasing of the beta chain length. With this repla...

In this paper, stabilization of the structural system against earthquake is presented. Because the conventional PD controller is popular and simple in design, our controller is based on PD controller. The main problem of such a controller is its inability to produce desired response and instability against variations in the properties of the structural system. To obviate this issue, the neu...

We investigate the evolution of the homogeneous and isotropic universe within the framework of the effective string gravity with string-loop modifications of dilaton couplings. In the case of barotropic perfect fluid as a nongravitational source the set of cosmological equations is presented in the form of the third-order autonomous dynamical system. The cases are considered when this system is...

For electro-optical imaging systems, line-of-sight stabilization against different disturbances created by mobile platforms is crucial property. The development of high resolution sensors and the demand in increased operating distances have recently increased the expectations from stabilization loops. For that reason, higher gains and larger bandwidths become necessary. As the stabilization loo...

We study the concept of stabilization with internal loop for infinite-dimensional discrete timevarying systems in the framework of nest algebra. We originally give a parametrization of all stabilizing controllers with internal loop, and it covers the parametrization of canonical or dual canonical controllers with internal loop obtained before. We show that, in practical application, the control...

We propose an univesal scheme to design loop-free and superstabilizing protocols for constructing spanning trees optimizing any tree metrics (not only those that are isomorphic to a shortest path tree). Our scheme combines a novel super-stabilizing loop-free BFS with an existing self-stabilizing spanning tree that optimizes a given metric. The composition result preserves the best properties of...