This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately boun...

A compensation scheme is presented to compensate the effect of dead-zone nonlinearity in a class of uncertain discrete-time nonlinear systems. Chebyshev Neural Network (CNN) is utilized to compensate the dead-zone nonlinearity and the unknown nonlinear functions are also approximated. The control design is attained by introducing dead-zone nonlinearity and using it in the controller design with...

Reinforcement learning (RL) is promising for complicated stochastic nonlinear control problems. Without using a mathematical model, an optimal controller can be learned from data evaluated by certain performance criteria through trial-and-error. However, the data-based approach notorious not guaranteeing stability, which most fundamental property any system. In this paper, classic Lyapunov’s me...

In this paper, the decentralized stabilization control approach based on the dynamic surface control (DSC) is proposed for a class of large-scale interconnected stochastic nonlinear systems. The proposed approach combined the existing dynamic surface control (DSC) with back-stepping technique. This approach can overcome the problem of “explosion of complexity” inherent in the back-stepping meth...

En este trabajo se propone un controlador no lineal basado en esquema de control por par calculado que resuelve el problema seguimiento trayectoria a nivel posición y velocidad para robot manipulador móvil (RMM) 8 grados libertad considerando una base diferencial tipo (2,0) satisface la restricción holonómica. Se presenta análisis estabilidad usando método Lyapunov; logra demostrar semiglobal, ...

In this paper a new excitation control scheme that improves the transient stability of multimachine power systems is proposed. To this end the backstepping technique is used to transform the system to a suitable partially linear form. On this system, a combination of both feedback linearization and adaptive control techniques are used to confront the nonlinearities. As shown in the paper, the r...

The adaptive hybrid function projective synchronization AHFPS of different chaotic systems with unknown time-varying parameters is investigated. Based on the Lyapunov stability theory and adaptive bounding technique, the robust adaptive control law and the parameters update law are derived to make the states of two different chaotic systems asymptotically synchronized. In the control strategy, ...