Adaptive neural control for an uncertain robotic manipulator with joint space constraints

In this paper, adaptive neural tracking control is proposed for a robotic manipulator with uncertainties in both manipulator dynamics and joint actuator dynamics. The manipulator joints are subject to inequality constraints, i.e., the joint angles are required to remain in some compact sets. Integral barrier Lyapunov functionals (iBLFs) are employed to address the joint space constraints directly without performing an additional mapping to the error space. Neural networks (NNs) are utilised to compensate for the unknown robot dynamics and external force. Adapting parameters are developed to estimate the unknown bounds on NN approximations. By the Lyapunov synthesis, the proposed control can guarantee the semi-global uniform ultimate boundedness of the closed-loop system, and the practical tracking of joint reference trajectory is achieved without the violation of predefined joint space constraints. Simulation results are given to validate the effectiveness of the proposed control scheme.     

Explicit synchronisation of heterogeneous dynamics networks via three-layer communication framework

This paper addresses the explicit synchronisation of heterogeneous dynamics networks via three-layer communication framework. The main contribution is to propose an explicit synchronisation algorithm, in which the synchronisation errors of all the agents are decoupled. By constructing a three-layer node model, the proposed algorithm removes the assumptions that the topology is fixed and the synchronisation process is coupled. By introducing appropriate assumptions, the algorithm leads to a class of explicit synchronisation protocols based on the states of agents in different layers. It is proved in the sense of Lyapunov that, if the dwell time is larger than a threshold, the explicit synchronisation can be achieved for closed-loop heterogeneous dynamics networks under switching topologies. The results are further extended to the cases in which the switching topologies are only frequently but not always connected. Simulation results are presented with four single-link manipulators to verify the theoretical analysis.     

Observer-based consensus in networks of discrete-time switched linear dynamics under a fixed topology

This paper considers the consensus problem of discrete-time switched linear multi-agent systems under a fixed communication topology. An observer-based protocol with sampled data is proposed for solving such a problem. Assume that the digraph has a directed spanning tree and that all switched subsystem of each agent are stabilisable and detectable. It is shown that the proposed protocol solves the consensus problem when the sampling period is sufficiently small and the average dwell time of the switching signal is sufficiently large. Moreover, to reduce the conservatism, a sufficient condition for consensus is obtained to design the feedback gain matrices and the observer gain matrices by linear matrix inequalities, which guarantee that consensus can be achieved when the sampling period and the average dwell time are in the general case. Finally, the effectiveness of the theoretical results is demonstrated through an example.     

Reaching a consensus in networks of high-order integral agents under switching directed topologies

Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent’s full state is available or not, two distributed protocols are proposed to ensure that states of all agents can be convergent to a same stationary value. In the proposed protocols, the gain vector associated with the agent’s (estimated) state and the gain vector associated with the relative (estimated) states between agents are designed in a sophisticated way. By this particular design, the high-order integral multi-agent system can be transformed into a first-order integral multi-agent system. Also, the convergence of the transformed first-order integral agent’s state indicates the convergence of the original high-order integral agent’s state, if and only if all roots of the polynomial, whose coefficients are the entries of the gain vector associated with the relative (estimated) states between agents, are in the open left-half complex plane. Therefore, many analysis techniques in the first-order integral multi-agent system can be directly borrowed to solve the problems in the high-order integral multi-agent system. Due to this property, it is proved that to reach a consensus, the switching directed topology of multi-agent system is only required to be ‘uniformly jointly quasi-strongly connected’, which seems the mildest connectivity condition in the literature. In addition, the consensus problem of discrete-time high-order integral multi-agent systems is studied. The corresponding consensus protocol and performance analysis are presented. Finally, three simulation examples are provided to show the effectiveness of the proposed approach.     

Robust adaptive DSC of directly input‐coupled nonlinear systems with input unmodeled dynamics and time‐varying output constraints

In this paper, an adaptive robust dynamic surface control is proposed for a class of uncertain nonlinear interconnected systems with time‐varying output constraints and dynamic input and output coupling. The directly coupled inputs and control inputs are both of nonlinear input unmodeled dynamics. To counteract the instable impact of the nonlinear input unmodeled dynamics, normalization signals are designed on the basis of the convergence rates of their Lyapunov functions. With new state variables and control variables being defined, the real control inputs are obtained through solving the equations of intermediate control laws. The time‐varying constraints on output signals are implemented by introducing asymmetric barrier Lyapunov functions. In addition, dynamic signals and decentralized K‐filters are used to deal with the state unmodeled dynamics and to estimate the unmeasurable states, respectively. By the theoretical analysis, the signals in the closed‐loop system are proved to be semi‐globally uniformly ultimately bounded, and the output constraints are guaranteed simultaneously. A numerical example is provided to show the effectiveness of the proposed approach. Copyright © 2017 John Wiley & Sons, Ltd.     

Antiviral drug acyclovir exhibits antitumor activity via targeting βTrCP1: Molecular docking and dynamics simulation study

The critical role of βTrCP1 in cancer development makes it a discerning target for the development of small drug like molecules. Currently, no inhibitor exists that is able to target its substrate binding site. Through molecular docking and dynamics simulation assays, we explored the comparative binding pattern of βTrCP1-WD40 domain with ACV and its phospho-derivatives (ACVMP, ACVDP and ACVTP). Consequently, through principal component analysis, βTrCP1-ACVTP was found to be more stable complex by obscuring a reduced conformational space than other systems. Thus based on the residual contribution and hydrogen bonding pattern, ACVTP was considered as a noteworthy inhibitor which demarcated binding in the cleft formed by βTrCP1-WD40 specific β-propeller. The outcomes of this study may provide a platform for rational design of specific and potent inhibitor against βTrCP1, with special emphasis on anticancer activity.     

Factors responsible for the aggregation behavior of hydrophobic polyelectrolyte PEA in aqueous solution studied by molecular dynamics simulations

Self-association (i.e. interchain aggregation) behavior of atactic poly(ethacrylic acid) PEA in dilute aqueous solution as function of degree-of-neutralization by Na⁺ counter-ions (i.e. charge fraction f) was investigated by molecular dynamics simulations. Aggregation is found to occur in the range 0 ≤ f ≤0.7 in agreement with experimental results compared at specified polymer concentration C_p = 0.36 mol/l in dilute solution. The macromolecular solution was characterized and analysed for radius-of-gyration, torsion angle distribution, inter and intra-molecular hydrogen bonds, radial distribution functions of intermolecular and inter-atomic pairs, inter-chain contacts and solvation enthalpy. The PEA chains form aggregate through attractive inter-chain interaction via hydrogen bonding, in the range f < 0.7, in agreement with experimental observation. The numbers of inter-chain contacts decreases with f. A critical structural transition occurs at f = 0.7, observed via simulations for the first time, in R_g as well as inter-chain H-bonds. The inter-chain distance increases with f due to repulsive interactions between COO− groups on the chains. PEA-PEA electrostatic interactions dominant solvation enthalpy. The PEA solvation enthalpy becomes increasingly favorable with increase in f. The transition enthalpy change, in going from uncharged (acid) state to fully charged state (f = 1) is unfavorable towards aggregate formation.     

Computational analysis of Asp519 and Glu665 mutations of coagulation factor FVIIIa: Implications for enhanced binding affinity of A2-domain

The A2-domain of blood coagulation factor VIIIa is non-covalently bound to the A1 and A3 domains via weak intermolecular interactions. Functional instability due to rapid dissociation of A2-domain from the active FVIII in blood presents a major hurdle for the therapeutic applications of FVIIIa to treat Hemophilia-A. To identify the ideal hot-spot residues at the interface of A2 and A1/A3 domains that could enhance the structural stability of FVIIIa, we performed a comprehensive computational mutagenesis study of two A2-domain residues, Asp519 and Glu665, that interface the A1 and A3-domains. Each residue was mutated to 15 uncharged amino-acids and the mutant structures were refined by MD simulations. Based on the estimated relative binding affinities of mutant structures, we predict that the mutation of Asp519 to Leu, Gln, Thr, Val and the mutation of Glu665 to Val, Ile, Met, Asn and Trp enhance the A2-domain binding affinity by more than 20 kcal/mol, compared to the WT structure. We anticipate that these predictions will be valuable for enzymatic studies towards the rational design of FVIIIa synthetic constructs with improved A2-domain binding affinity.     

On The Modeling of Twin Rotor MIMO System Using Chirp Inputs as Test Signals

This paper addresses the modeling problem for the twin rotor multi input multi output system. To develop experimental data, this popular commercial laboratory model of a helicopter from Feedback Instruments Ltd is excited with band limited chirp inputs. The conclusions drawn in this paper lead to four significant achievements: 1) derivation of a linear nominal model for Twin Rotor MIMO System, TRMS in short, from its equivalent nonlinear mathematical representation; 2) dynamic modeling of TRMS; 3) determination of non‐minimum phase dynamics; and 4) determination of linear operating region. The work considers systematic study of the system dynamics of TRMS and analytical treatment of its identified data leading to derivation of the RHP zero dynamics followed by pictorial illustrations indicating resonant modes associated with the plant. The method used in the present paper can be essentially used in modeling of 2 × 2 plants exhibiting non‐minimum phase dynamics and model uncertainties.