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A novel decentralized controller using the dynamic surface control (DSC) is proposed for a class of uncertain large scale interconnected nonlinear systems in strict-feedback form while relaxing the ldquoexplosion of complexityrdquo problem which is observed in the typical backstepping approach. The matching condition is not assumed when dealing with the interconnection terms. Neural networks (NNs)...
In this paper, a novel framework for leader-follower formation control is developed for the control of multiple quadrotor unmanned aerial vehicles (UAVs) based on spherical coordinates. The control objective for the follower UAV is to track its leader at a desired-separation, angle of incidence, and a bearing by using an auxiliary velocity control. Then, a novel neural network (NN) control law for...
In this paper, a single and multi-layer neural network (NN) controllers are developed for a class of nonlinear discrete time systems. Under a mild assumption on the system uncertainties, which include unmodeled dynamics and bounded disturbances, by using novel weight update laws and a robust term, local asymptotic stability of the closed-loop system is guaranteed in contrast with all other NN controllers...
Effectively migrating sequential applications to take advantage of parallelism available on multicore platforms is a well-recognized challenge. This paper addresses important aspects of this issue by proposing a novel profiling technique to automatically detect available concurrency in C programs. The profiler, called Alchemist, operates completely transparently to applications, and identifies constructs...
A neural network (NN) controller in discrete time is designed to deliver a desired tracking performance for a class of uncertain nonlinear systems with unknown deadzones and magnitude constraints on the input. The NN controller consists of two NNs: the first NN for compensating the unknown deadzones; and the second NN for compensating the uncertain nonlinear system dynamics. The magnitude constraints...
A modern systems theory point of view is offered for the design of sequencing controllers for discrete event manufacturing systems. The controller is an intelligent rule-based system with inner loops where no conflict resolution (CR) is required and outer loops where CR is needed. The CR approach ensures that the closed-loop system is decision-free. The most suitable CR strategy depends on the-performance...
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