The recent observation at the Tevatron of Σ±b (uub and ddb) baryons within 2 MeV of the predicted Σb − Λb splitting and of Ξ−b (dsb) baryons at the Tevatron within a few MeV of predictions has provided strong confirmation for a theoretical approach based on modeling the color hyperfine interaction. The prediction of M(Ξ−b ) = 5790 to 5800 MeV is reviewed and similar methods used to predict the ...

In this paper, an online optimal control scheme for a class of unknown discrete-time (DT) nonlinear systems is developed. The proposed algorithm using current and recorded data to obtain the optimal controller without the knowledge of system dynamics. In order to carry out the algorithm, a neural network (NN) is constructed to identify the unknown system. Then, based on the estimated system mod...

This paper presents a neural network adaptive controller for diving control of an autonomous underwater vehicle (AUV). In general, while deriving the diving equations of an AUV, the pitch angle of the vehicle is often assumed to be small in the diving motion. This is a somewhat strong restricting condition in many practical applications, and would be broken in this paper. Furthermore, because t...

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any inp...

In this thesis, a fuzzy adaptive output feedback controllers and chain observers for a class of nonlinear delayed systems is proposed. The proposed approach do not need the availability of the state variables. The linearization approach is used to transform a nonlinear system into a linear system through Lie derivative method. We adopt an fuzzy adaptive chain observer in which no strictly posit...

In this paper, a novel adaptive dynamic programming (ADP)-based event-triggered safe control method is proposed to solve the zero-sum game problem of nonlinear safety-critical systems with safety constraints and input saturation. First, barrier function-based system transformation, saturation transformed into an equivalent problem, so as guarantee that does not violate constraints. Furthermore,...

In this paper, we present a 3D formation control scheme for group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct sort star-topology acoustic communication network where the USV is at center point. Due to kind topological feature, paper applies virtual school concept. This geometric graph each node...

In this paper, a robust PID control scheme is proposed for Micro-Electro-Mechanical-Systems (MEMS) optical switches. The proposed approach is designed in a way which solves two challenging and important problems. The first one is successful reference tracking and the second is mitigating the system nonlinearities. The overall system composed of nonlinear MEMS dynamics and the PID controller is ...

This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with d...

In this paper the control of flexible joint manipulators is studied in detail. The model of N -axis flexible joint manipulators is derived and reformulated in the form of singular perturbation theory and an integral manifold is used to separate fast dynamics from slow dynamics. A composite control algorithm is proposed for the flexible joint robots, which consists of two main parts. Fast contro...