This paper examines the inverse control problem of nonlinear systems with stable dynamics using a fuzzy modeling approach. Indeed, based on the ability of fuzzy systems to approximate any nonlinear mapping, the nonlinear system is represented by a Takagi-Sugeno (TS) fuzzy system, which is then inverted for designing a fuzzy controller. As an application of the proposed inverse control methodolo...

Parallel manipulators have been proposed to overcome accuracy problem in the end effector positioning, exhibited by serial manipulators(Stewart, 1965)(Reboulet, 1988)(Merlet, 2000). These parallel robots are primarly used in the applications for which the considered processes require a high degree of accuracy, high speeds or accelerations. Aircraft simulator (Stewart, 1965), machining tools (Ne...

in this paper the control algorithm for controlled civil structures subjected to earthquake excitation is thoroughly investigated. the objective of this work is the control of structures by means of the pole placement algorithm, in order to improve their response against earthquake actions. successful application of the algorithm requires judicious placement of the closed-loop eigenvalues from ...

A control scheme for flexible-link manipulators is advanced which is based on the notion of nonlinear inner–outer factorization. It is well known that the inverse of the forward dynamics map from joint torques to manipulator tip motion is noncausal and cannot be implemented in conjunction with real-time path planning. The methods used here determine causal approximations for the inverse dynamic...

This paper presents a new approach of achieving inverse model control (IMC) of nonlinear plants with TaSe Takagi-Sugeno-Kang (TSK) fuzzy system. The inverse control law, designed for the control of nonlinear plant dynamics, is derived directly based on approximate model method and it is implemented using TaSe TSK fuzzy system modeling. The robust stability of the IMC is analyzed using Lyapunov ...

"Trajectory Extension Learning" is a new technique for Learning Control in Robots which assumes that there exists some parameter of the desired trajectory that can be smoothly varied from a region of easy solvability of the dynamics to a region of desired behavior which may have more difficult dynamics. By gradually varying the parameter, practice movements remain near the desired path while a ...

We consider the high energy limit of the colour ordered one-loop five-gluon amplitude in the planar maximally supersymmetric N = 4 Yang-Mills theory in the multiRegge kinematics where all of the gluons are strongly ordered in rapidity. We apply the calculation of the one-loop pentagon in D = 6−2ǫ performed in a companion paper [1] to compute the one-loop five-gluon amplitude through to O(ǫ2). U...

The output-feedback control problem for nonlinear systems with state and input delays is addressed. Both state and input delays are allowed to be time-varying and uncertain. The class of systems considered consists of a nominal system of strictfeedback form as well as appended dynamics and inverse dynamics. A delay-independent robust adaptive feedback is designed based on our recent results on ...