Temperature variation intensively affects parameters of the friction force, particularly the average bristle deflections. In our earlier research work, a temperature dependent friction compensation scheme was developed for serial rigid robot manipulators which was comprised of a temperature dependent viscous friction compensation scheme and a temperature dependent disturbance rejection scheme. ...

In this paper, the disturbance attenuation properties in the sense of uniformly ultimate boundedness are investigated for a class of switched linear systems with parametric uncertainties and exterior disturbances. The aim is to characterize the conditions under which the switched system can achieve a finite disturbance attenuation level. First, arbitrary switching signals are considered, and a ...

In this note, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small [i.e., global uniformly ultimately boundedness (GUUB)]. The result is facilitated by fusing a filtered tracking error transformation with the dynamic ...

The main purpose of this study is to discuss the uniform boundednessprinciple in fuzzifying topological linear spaces. At first theconcepts of uniformly boundedness principle and fuzzy equicontinuousfamily of linear operators are proposed, then the relations betweenfuzzy equicontinuous and uniformly bounded are studied, and with thehelp of net convergence, the characterization of fuzzyequiconti...

* 0-7803-7952-7/03/$17.00  2003 IEEE. Abstract Uniform ultimate boundedness of a new class of switched linear systems is considered. A switched linear system in this class consists of m subsystems, and none of the individual subsystems need to be stabilizable. The switched linear system is shown to be uniformly ultimately bounded for any pre-given bound if the combination of controllable compo...

This paper presents a derivative-free model reference adaptive controller design for NASA genetic transport model. The proposed architecture does not assume the ideal weights of a parameterized uncertainty are constant. In addition, it does not require modification terms like σor emodification, or applying a projection operator to the weight estimates, for uniformly ultimately boundedness. The ...

This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately boun...

In this paper, adaptive neural network (NN) control is presented for a class of non-affine nonlinear systems with unknown control gain. Using the Mean Value Theorem and backstepping method, we propose a constructive approach for adaptive NN control design. The Nussbaum function is used to relax the requirement on control direction. The semi-global uniformly ultimately boundedness (SGUUB) of the...