This paper presents a robust adaptive feedback linearizing control law to solve the integrated kinematic and dynamic trajectory tracking problem of nonholonomic mechanical systems in presence of parametric and nonparametric uncertainties. An adaptive nonlinear control law is proposed based on input-output feedback linearization technique to get asymptotically exact cancellation of the parametri...

The singularity manifold equation of the Kadomtsev-Petviashvili equation, the so-called Krichever-Novikov equation, has an exact linearization to an overdetermined system of partial diierential equations in three independent variables. We study in detail the Cauchy problem for this system as an example for the use of the formal theory of diierential equations. A general existence and uniqueness...

This paper proposes two methods for nonlinear observer design which are based on a partial nonlinear observer canonical form (POCF). Observability and integrability existence conditions for the new POCF are weaker than the well-established nonlinear observer canonical form (OCF), which achieves exact error linearization. The proposed observers provide the global asymptotic stability of error dy...

This work presents an approach to simultaneously but independently control the compliance of a robotic system transversal and tangential to a given path. A subordinate path following controller transforms the nonlinear dynamics into a linear system with decoupled transversal and tangential dynamics via a coordinate transformation and an exact input-output linearization. The outer control loop u...

This work studies the problem of design of discrete-time nonlinear observers in the presence of exogenous disturbances. In particular, the present work proposes a systematic design method for discrete-time nonlinear state and disturbance observers in modular form, consisting of an observer for the disturbance-free part of the system, along with a disturbance observer and a stateestimate correct...

We consider a one dimensional Bose-Einstein condensate in a in nite square-well (box) potential. This is a nonlinear control system in which the state is the wave function of the Bose Einstein condensate and the control is the length of the box. We prove that local exact controllability around the ground state (associated with a xed length of the box) holds generically with respect to the chemi...

We report on the development of algorithms for solving the Quadratic 3-dimensional Assignment Problem (Q3AP). The application is a hybrid ARQ scheme for enriching diversity among multiple packet transmissions by optimizing the mapping of transmission symbols to data. Our current exact algorithm, based on a reformulation linearization technique, solves Q3AP instances of size 13 or smaller. Our f...

The design of suitable control is essential part of application of parallel robots. Together with appropriate control, the parallel robots are promising way to significantly improve accuracy and speed of machine tools in industrial production. This paper deals with the design and results of one possible control approach represented by model-based predictive control in absolute formulation. It e...

This paper proposes an adaptive global asymptotic stable (adaptive GAS) control scheme for the compensation of friction and disturbance effect to control robot manipulators. This control method integrates both model reference technique and exact linearization. In addition, it employs disturbance compensating mechanics to control the system to follow a linear reference model which has pole place...

Abstract. The equivalent linearization program LSSRLI-1, proposed by Xiaojun Li in 1989, is the important content in seismic zoning work and seismic safety evaluation of engineering sites. It is necessary to check the applicability of LSSRLI-1 to all kinds of sites. The mainly elaboration of this paper is verifying the applicability of seismic safety evaluation program LSSRLI-1 in stiff and hal...