In a geometric point of view, a nonlinear control system, affine in the controls, is thought of as an affine subbundle of the tangent bundle of the state space. In deriving conditions for local controllability from this point of view, one should describe those properties of the affine subbundle that either ensure or prohibit local controllability. In this paper, second-order conditions of this ...

We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced by piecewise affine approximations which allow an analytical resolution. The sequence of affine models then forms a sequence of states of a hybrid automaton....

This paper proposes a direct adaptive backstepping control scheme for a class of multi-input-multioutput nonlinear uncertain non-affine systems using output recurrent wavelet neural networks (ORWNNs), called DABCORWNN. The proposed ORWNN combines the advantages of wavelet-based neural network, fuzzy neural network (FNN), and output feedback layer. For the tracking of nonlinear non-affine system...

An adaptive nonlinear robust controller for a novel highly maneuverable dual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinear and not originally in the control-affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control-affine form. It is a...

We announce a new construction of a stabilizing feedback law for nonlinear globally asymptotically controllable (GAC) systems. Given a control affine GAC system, our feedback renders the closed loop system input to state stable with respect to actuator errors and small observation noise. We also announce a variant of our result for fully nonlinear GAC systems.

Various alternative definitions for the nonlinear H2-, L2and ν-gap metrics are studied. The concept of β-conjugacy and multiplicative homogeneity are introduced to relate the metrics to each other and to compare the stability margins of nonlinear feedback loops expressed in terms of the norms of complementary parallel projections. Left and right representations for the graph of a nonlinear syst...

Reconstructing the full contour of the tongue from the position of 3 to 4 landmarks on it is useful in articulatory speech work. This can be done with submillimetric accuracy using nonlinear predictive mappings trained on hundreds or thousands of contours extracted from ultrasound images. Collecting and segmenting this amount of data from a speaker is difficult, so a more practical solution is ...

A direct adaptive regulator for nonlinear nonparametric systems with measurement corrupted by noise is proposed. Under reasonable conditions the state of the closed-loop system is adaptively regulated so that it converges to zero as time tends to infinity. An illustrative example, being an affine nonlinear system, with all imposed conditions satisfied is given. The method of proof is based on s...

We announce a new construction of a stabilizing feedback law for nonlinear globally asymptotically controllable (GAC) systems. Given a control affine GAC system, our feedback renders the closed loop system input to state stable with respect to actuator errors and small observation noise. We also announce a variant of our result for fully nonlinear GAC systems.

In this paper, a nonlinear acoustic echo cancellation (AEC) system is proposed, whereby 3rd order Volterra filtering is utilized along with a variable step-size Gauss-Seidel pseudo affine projection (VSSGS-PAP) algorithm. In particular, the proposed nonlinear AEC system is developed by considering a double-talk situation with near-end signal variation. Simulation results demonstrate that the pr...