In this paper, a novel nonlinear hierarchical controller for attitude control is proposed. This controller is obtained using Lyapunov methodology. Model uncertainties in the system are estimated on-line based on a time-delay control approach. The robustness of the flight controller is enhanced using an anti-windup integrator technique and semi-global asymptotical stability is proven. The contro...

In this paper an adaptive internal model based control scheme is designed to deal with tracking and input disturbance suppression problems for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of th...

This paper considers a new class of additive neural networks where the neuron activations are modelled by discontinuous functions with nonlinear growth. By Leray-Schauder alternative theorem in differential inclusion theory, matrix theory, and generalized Lyapunov approach, a general result is derived which ensures the existence and global asymptotical stability of a unique periodic solution fo...

In this paper, we consider a class of nonlinear regulator optimal control problems with an infinite planning horizon. By assuming a specific feedback structure for the controller, the resultant regular problem is reduced to an optimal parameter selection problem. Since the reduced problem is on an infinite planning horizon, we construct a sequence of finite time optimal parameter selection prob...

Support vector machines (SVMs) construct decision functions that are linear combinations of kernel evaluations on the training set. The samples with non-vanishing coefficients are called support vectors. In this work we establish lower (asymptotical) bounds on the number of support vectors. On our way we prove several results which are of great importance for the understanding of SVMs. In parti...

Synchronization control of stochastic neural networks with time-varying discrete and continuous delays has been investigated. A novel control scheme is proposed using the Lyapunov functional method and linear matrix inequality (LMI) approach. Sufficient conditions have been derived to ensure the global asymptotical mean-square stability for the error system, and thus the drive system synchroniz...

A new nonlinear adaptive control approach is proposed for the redundantly actuated parallel manipulators. In comparison with the existing adaptive control schemes, the parameterization expression of the model parameters is not needed in the proposed approach according to the properties of the parameters in the inertia matrix, and the design of adaptive controller can be simplified considerably ...

Gene regulatory networks (GRNs) represent complex nonlinear coupled dynamical systems that models gene functions and regulations at the system level. Previous research has described GRNs as coupled nonlinear systems under parametric perturbations without considering the important aspect of stochasticity. However, a realistic model of a GRN is that of a hybrid stochastic retarded system that rep...

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position...