Related papers: Identifying Friction in a Nonlinear Chaotic System…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
In order to achieve faster and more robust convergence (especially under noisy working environments), a sliding mode theory-based learning algorithm has been proposed to tune both the premise and consequent parts of type-2 fuzzy neural…
In this paper we propose a new method to detect and classify coexisting solutions in nonlinear systems. We focus on mechanical and structural systems where we usually avoid multistability for safety and reliability. We want to be sure that…
In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…
This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
To date, the instability of prognostic predictors in a sparse high dimensional model, which hinders their clinical adoption, has received little attention. Stable prediction is often overlooked in favour of performance. Yet, stability…
Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, it makes…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
We propose a convex optimization procedure for black-box identification of nonlinear state-space models for systems that exhibit stable limit cycles (unforced periodic solutions). It extends the "robust identification error" framework in…
The estimation of static parameters in dynamical systems and control theory has been extensively studied, with significant progress made in estimating varying parameters in specific system types. Suppose, in the general case, we have data…
This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…
We present an example of the practical implementation of a protocol for experimental bifurcation detection based on on-line identification and feedback control ideas. The idea is to couple the experiment with an on-line computer-assisted…
In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling…
We formulate and analyze a Nitsche-type algorithm for frictional contact problems. The method is derived from, and analyzed as, a stabilized finite element method and shown to be quasi-optimal, as well as suitable as an adaptive scheme…
The stability analysis of elastic rings subjected to various loading conditions is examined, focusing on stable and unstable configurations. The harmonic balance method is employed to investigate the stability range under different loading…
In this paper the finite-time stabilization problem is solved for a linear time-varying system with unknown control direction by exploiting a modified version of the classical extremum seeking algorithm. We propose to use a suitable…
Lumped parameter methods aim to simplify the evolution of spatially-extended or continuous physical systems to that of a "lumped" element representative of the physical scales of the modeled system. For systems where the definition of a…
We consider the unilateral contact problem between an elastic body and a rigid foundation in a description that includes both Tresca and Coulomb friction conditions. For this problem, we present an a posteriori error analysis based on an…