Exact and explicit optimal solutions for trajectory planning and control of single-link flexible-joint manipulators

An optimal trajectory planning problem for a single-link, flexible joint manipulator is studied. A global feedback-linearization is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formula for the optimal solution of the problem is derived and the solution is shown to be unique. It turns out that the optimal trajectory planning and control can be done off-line, so that the proposed method is applicable to both theoretical analysis and real time tele-robotics control engineering

A Time-Varying Complex Dynamical Network Model And Its Controlled Synchronization Criteria

Today, complex networks have attracted increasing attention from various fields of science and engineering. It has been demonstrated that many complex networks display various synchronization phenomena. In this paper, we introduce a time-varying complex dynamical network model. We then further investigate its synchronization phenomenon and prove several network synchronization theorems. Especially, we show that synchronization of such a time-varying dynamical network is completely determined by the inner-coupling matrix, and the eigenvalues and the corresponding eigenvectors of the coupling configuration matrix of the network.Comment: 13 page

Performance of a Multiple-Access DCSK-CC System over Nakagami-mm Fading Channels

In this paper, we propose a novel cooperative scheme to enhance the performance of multiple-access (MA) differential-chaos-shift-keying (DCSK) systems. We provide the bit-error-rate (BER) performance and throughput analyses for the new system with a decode-and-forward (DF) protocol over Nakagami-$m$ fading channels. Our simulated results not only show that this system significantly improves the BER performance as compared to the existing DCSK non-cooperative (DCSK-NC) system and the multiple-input multiple-output DCSK (MIMO-DCSK) system, but also verify the theoretical analyses. Furthermore, we show that the throughput of this system approximately equals that of the DCSK-NC system, both of which have prominent improvements over the MIMO-DCSK system. We thus believe that the proposed system can be a good framework for chaos-modulation-based wireless communications.Comment: 4 pages, 5 figures, accepted, IEEE ISCAS, 201