Abstract: The Lyapunov function approach is used to derive a new algorithm for model based adaptive motion control as applied to robot manipulators. The technique does not require a knowledge of state ...

Abstract: The traditional approach of using free vibration modes in the assumed mode method often leads to an extremely slow convergence rate, especially when discete interactive forces are involved. By ...

Abstract: The method of Interpolated Mapping is extended to encompass the calculation of transient system behavior, specifically the efficient determination of the Lyapunov exponents for a simple nonlinear ...