This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

Kinematically redundant manipulators admit an infinite number of inverse kinematic solutions and hence the optimization of different performance measures corresponding to various task requirements must be considered. Joint accelerations of these mechanisms are usually computed by optimizing various criteria defined using the two-norm of acceleration vectors in the joint space. However, in formu...

We study the moral hazard problem with general constraints on how little or much the agent can be paid as a function of output. We provide a characterization and existence result using only very simple methods. In the dual problem of minimizing costs for a given effort level, a constraint that harms the principal will always result in a contract that pays according to the constraint on some ran...