This paper aims to control a new 4D hyperchaotic finance system by means of inverse optimal control scheme. For this purpose, the inverse optimal controller is designed and added to the new hyperchaotic finance system. Based on Lyapunov stability theory, the stability of the hyperchaotic finance system at its zero equilibrium point is guaranteed by applying appropriate inverse optimal control s...

The purpose of this study is to apply inverse dynamics control for a six degree of freedom flight simulator motion system. Imperfect compensation of the inverse dynamic control is intentionally introduced in order to simplify the implementation of this approach. The control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation. ...

The computation of the inverse roots of matrices arises in evaluating non-symmetriceigenvalue problems, solving nonlinear matrix equations, computing some matrixfunctions, control theory and several other areas of applications. It is possible toapproximate the matrix inverse pth roots by exploiting a specialized version of New-ton's method, but previous researchers have mentioned that some iter...

In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which ...

In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which ...

Precise models of the robot inverse dynamics allow the design of significantly more accurate, energy-efficient and more compliant robot control. However, in some cases the accuracy of rigidbody models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse d...

Online Goal Babbling and Direction Sampling are recently proposed methods for direct learning of inverse kinematics mappings from scratch even in high-dimensional sensorimotor spaces following the paradigm of ”learning while behaving”. To learn inverse statics mappings – primarily for gravity compensation – from scratch and without using any closed-loop controller, we modify and enhance the Onl...

The speed, accuracy, and adaptability of human movement depends on the brain performing an inverse kinematics transformation — that is, a transformation from visual to joint angle coordinates — based on learning from experience. In human motion control, it is important to learn a feedback controller for the hand position error in the human inverse kinematics solver. This paper proposes a novel ...

u+1(t)_ uz(t) for tEIl r(t) f or tEIk where ui and r are the present control and a control maximizing the related Hamiltonian function, respectively. The idea of the switching scheme is based on the concept of chattering controls first proposed by Gamkrelidze. It is proved that accumulation points generated by the algorithm, if exist, satisfy maximum principle. Some examples are given to show t...

A simulational model of 6 dof Stewart platform type parallel manipulator is presented. The manipulator is driven by electrohydraulic actuators. A novel invariant error dynamics controller is used. The developed control scheme employs the dynamic and hydraulic model of the system. The manipulator model consists of the rigid body equations of motion and the hydraulic dynamics of the main elements...