Non-finitizability of a weak second-order theory
An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently,...
In this paper, a robust neural network control scheme for the switching dynamical model of the robotic manipulators has been addressed. Radial basis function (RBF) neural networks are employed to approximate unknown functions of robotic manipulators and a compensation controller is designed to enhance system robustness. The weight update law of the robotic manipulator is based on switched multiple Lyapunov function method and the periodically switching law which is suitable for practical implementation...
Nell'ambito della Teoria dei Modelli Astratta è possibile dimostrare che una logica compatta L è univocamente determinata dalla sua relazione di L-elementare equivalenza (Teorema 1). Si enunciano poi alcuni risultati sulle logiche massime correlate a certe relazioni di equivalenza e sulle logiche compatte generate da qualche sistema di Fraissé-Ehrenfeucht.