The adaptive stabilization scheme based on tuning function for stochastic nonlinear systems with stochastic integral input-to-state stability SiISS inverse dynamics is investigated. By combining the stochastic LaSalle theorem and small-gain type conditions on SiISS, an adaptive output feedback controller is constructively designed. It is shown that all the closed-loop signals are bounded almost...

This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...

Whereas much work has been done to describe N -dimensional orientations in terms of principal rotations, these developments have not been extended to the descriptions of N -dimensional kinematics. For threedimensional rotations the angular velocity can be related to derivatives of the principal angle and axis. Following a similar procedure this paper develops the kinematics for N -dimensional r...

This paper mathematically explains how state derivative space (SDS) system form with related feedback can supplement standard in control designs. Practically, inverse optimal is attractive because it construct a stable closed-loop while may not have exact solution. Unlike the previous algorithms which mainly applied feedback, this are carried out utilizing alone SDS system. The effectiveness of...