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Robust neural network control of robotic manipulators via switching strategy

Lei Yu, Shumin Fei, Jun Huang, Yongmin Li, Gang Yang, Lining Sun (2015)

Kybernetika

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...

S L 2 , the cubic and the quartic

Yannis Y. Papageorgiou (1998)

Annales de l'institut Fourier

We describe the branching rule from S p 4 to S L 2 , where the latter is embedded via its action on binary cubic forms. We obtain both a numerical multiplicity formula, as well as a minimal system of generators for the geometric realization of the rule.

Schémas en groupes et immeubles des groupes exceptionnels sur un corps local. Première partie : le groupe G 2

Wee Teck Gan, Jiu-Kang Yu (2003)

Bulletin de la Société Mathématique de France

Nous obtenons une version explicite de la théorie de Bruhat-Tits pour les groupes exceptionnels de type G 2 sur un corps local. Nous décrivons chaque construction concrètement en termes de réseaux : l’immeuble, les appartements, la structure simpliciale, les schémas en groupes associés. Les appendices traitent de l’analogie avec les espaces symétriques réels et des espaces symétriques associés à G 2 réel et complexe.

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