We investigate through this research the numerical inversion technique for the Laplace transforms cooperated by the integration Boubaker polynomials operational matrix.The efficiency of the presented approach is demon...We investigate through this research the numerical inversion technique for the Laplace transforms cooperated by the integration Boubaker polynomials operational matrix.The efficiency of the presented approach is demonstrated by solving some differential equations.Also,this technique is combined with the standard Laplace Homotopy Per-turbation Method.The numerical results highlight that there is a very good agreement between the estimated solutions with exact solutions.展开更多
In this paper we use the notion of measure of non-strict-singularity to give some results on Fredholm operators and we establish a fine description of the Schechter essential spectrum of a closed densely defined linea...In this paper we use the notion of measure of non-strict-singularity to give some results on Fredholm operators and we establish a fine description of the Schechter essential spectrum of a closed densely defined linear operator.展开更多
This paper studies the eigenfunction expansion method to solve the two dimensional （2D） elasticity problems based on the stress formulation. The fundamental system of partial differential equations of the 2D problem...This paper studies the eigenfunction expansion method to solve the two dimensional （2D） elasticity problems based on the stress formulation. The fundamental system of partial differential equations of the 2D problems is rewritten as an upper tri angular differential system based on the known results, and then the associated upper triangular operator matrix matrix is obtained. By further research, the two simpler com plete orthogonal systems of eigenfunctions in some space are obtained, which belong to the two block operators arising in the operator matrix. Then, a more simple and conve nient general solution to the 2D problem is given by the eigenfunction expansion method. Furthermore, the boundary conditions for the 2D problem, which can be solved by this method, are indicated. Finally, the validity of the obtained results is verified by a specific example.展开更多
Fundamental matrix operations and solving linear systems of equations are ubiquitous in scientific investigations.Using the‘sender-receiver’model,we propose quantum algorithms for matrix operations such as matrix-ve...Fundamental matrix operations and solving linear systems of equations are ubiquitous in scientific investigations.Using the‘sender-receiver’model,we propose quantum algorithms for matrix operations such as matrix-vector product,matrix-matrix product,the sum of two matrices,and the calculation of determinant and inverse matrix.We encode the matrix entries into the probability amplitudes of the pure initial states of senders.After applying proper unitary transformation to the complete quantum system,the desired result can be found in certain blocks of the receiver’s density matrix.These quantum protocols can be used as subroutines in other quantum schemes.Furthermore,we present an alternative quantum algorithm for solving linear systems of equations.展开更多
We study the structure of the continuous matrix product operator(cMPO)^([1]) for the transverse field Ising model(TFIM).We prove TFIM’s cMPO is solvable and has the form T=e^(-1/2H_(F)).H_(F) is a non-local free ferm...We study the structure of the continuous matrix product operator(cMPO)^([1]) for the transverse field Ising model(TFIM).We prove TFIM’s cMPO is solvable and has the form T=e^(-1/2H_(F)).H_(F) is a non-local free fermionic Hamiltonian on a ring with circumferenceβ,whose ground state is gapped and non-degenerate even at the critical point.The full spectrum of H_(F) is determined analytically.At the critical point,our results verify the state–operator-correspondence^([2]) in the conformal field theory(CFT).We also design a numerical algorithm based on Bloch state ansatz to calculate the lowlying excited states of general(Hermitian)cMPO.Our numerical calculations coincide with the analytic results of TFIM.In the end,we give a short discussion about the entanglement entropy of cMPO’s ground state.展开更多
Embedded systems used in real-time applications require low power, less area and high computation speed. For digital signal processing, image processing and communication applications, data are often received at a con...Embedded systems used in real-time applications require low power, less area and high computation speed. For digital signal processing, image processing and communication applications, data are often received at a continuously high rate. The type of necessary arithmetic functions and matrix operations may vary greatly among different applications. The RTL-based design and verification of one or more of these functions could be time-consuming. Some High Level Synthesis tools reduce this design and verification time but may not be optimal or suitable for low power applications. The design tool proposed in this paper can improve the design time and reduce the verification process. The design tool offers a fast design and verification platform for important matrix operations. These operations range from simple addition to more complex matrix operations such as LU and QR factorizations. The proposed platform can improve design time by reducing verification cycle. This tool generates Verilog code and its testbench that can be realized in FPGA and VLSI systems. The designed system uses MATLAB-based verification and reporting.展开更多
In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathema...In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathematical model is divided into four classes using fractal parameters for COVID-19 dynamics,namely,susceptible(S),infected(I),treatment(T),and recovered(R).The main idea of the presented method is based on the matrix representations of the exponential functions and their derivatives using collocation points.To indicate the usefulness of this method,we employ it in some cases.For error analysis of the method,the residual of the solutions is reviewed.The reported examples show that the method is reasonably efficient and accurate.展开更多
In this paper, a new numerical method for solving fractional differential equations(FDEs) is presented. The method is based upon the fractional Taylor basis approximations. The operational matrix of the fractional int...In this paper, a new numerical method for solving fractional differential equations(FDEs) is presented. The method is based upon the fractional Taylor basis approximations. The operational matrix of the fractional integration for the fractional Taylor basis is introduced. This matrix is then utilized to reduce the solution of the fractional differential equations to a system of algebraic equations. Illustrative examples are included to demonstrate the validity and applicability of this technique.展开更多
This paper investigates the numerical solution of two-dimensional nonlinear stochastic Itô-Volterra integral equations based on block pulse functions. The nonlinear stochastic integral equation is transformed...This paper investigates the numerical solution of two-dimensional nonlinear stochastic Itô-Volterra integral equations based on block pulse functions. The nonlinear stochastic integral equation is transformed into a set of algebraic equations by operational matrix of block pulse functions. Then, we give error analysis and prove that the rate of convergence of this method is efficient. Lastly, a numerical example is given to confirm the method.展开更多
In a modern electrical driver, rotor field oriented control an appropriate transient response. In this method, the space （RFOC） method has been used to achieve a good performance and vector of the rotor flux comes h...In a modern electrical driver, rotor field oriented control an appropriate transient response. In this method, the space （RFOC） method has been used to achieve a good performance and vector of the rotor flux comes handy by the rotor resistance value. The rotor resistance is one of the important parameters which varies according to motor speed and room temperature alteration. In this paper, a new on-line estimation method is utilized to obtain the rotor resistance by using Walsh functions domain. The Walsh functions are one of the most applicable functions in piecewise constant basis functions （PCBF） to solve dynamic equations. On the other hand, an integral operational matrix is used to simplify the process and speed of the computation algorithm. The simulations results show that the proposed method is capable of solving the dynamic equations in an electrical machine on a time interval which robustly estimates the rotor resistance in contrast with injection noises.展开更多
This paper proposes a method combining blue the Haar wavelet and the least square to solve the multi-dimensional stochastic Ito-Volterra integral equation.This approach is to transform stochastic integral equations in...This paper proposes a method combining blue the Haar wavelet and the least square to solve the multi-dimensional stochastic Ito-Volterra integral equation.This approach is to transform stochastic integral equations into a system of algebraic equations.Meanwhile,the error analysis is proven.Finally,the effectiveness of the approach is verified by two numerical examples.展开更多
This paper investigates the nonlinear boundary value problem resulting from the exact reduction of the Navier-Stokes equations for unsteady magnetohydrodynamic boundary layer flow over the stretching/shrinking permeab...This paper investigates the nonlinear boundary value problem resulting from the exact reduction of the Navier-Stokes equations for unsteady magnetohydrodynamic boundary layer flow over the stretching/shrinking permeable sheet submerged in a moving fluid.To solve this equation,a numerical method is proposed based on a Laguerre functions with reproducing kernel Hilbert space method.Using the operational matrices of derivative,we reduced the problem to a set of algebraic equations.We also compare this work with some other numerical results and present a solution that proves to be highly accurate.展开更多
A framework to obtain numerical solution of the fractional partial differential equation using Bernstein polynomials is presented. The main characteristic behind this approach is that a fractional order operational ma...A framework to obtain numerical solution of the fractional partial differential equation using Bernstein polynomials is presented. The main characteristic behind this approach is that a fractional order operational matrix of Bernstein polynomials is derived. With the operational matrix, the equation is transformed into the products of several dependent matrixes which can also be regarded as the system of linear equations after dispersing the variable. By solving the linear equations, the numerical solutions are acquired. Only a small number of Bernstein polynomials are needed to obtain a satisfactory result. Numerical examples are provided to show that the method is computationally efficient.展开更多
In this paper,first,Bernstein multi-scaling polynomials(BMSPs)and their properties are introduced.These polynomials are obtained by compressing Bernstein polynomials(BPs)under sub-intervals.Then,by using these polynom...In this paper,first,Bernstein multi-scaling polynomials(BMSPs)and their properties are introduced.These polynomials are obtained by compressing Bernstein polynomials(BPs)under sub-intervals.Then,by using these polynomials,stochastic operational matrices of integration are generated.Moreover,by transforming the stochastic integral equation to a system of algebraic equations and solving this system using Newton’s method,the approximate solution of the stochastic Ito^(^)-Volterra integral equation is obtained.To illustrate the efficiency and accuracy of the proposed method,some examples are presented and the results are compared with other methods.展开更多
The basic aim of this paper is to introduce and describe an efficient numerical scheme based on spectral approach coupled with Chebyshev wavelets for the approximate solutions of Klein-Gordon and Sine-Gordon equations...The basic aim of this paper is to introduce and describe an efficient numerical scheme based on spectral approach coupled with Chebyshev wavelets for the approximate solutions of Klein-Gordon and Sine-Gordon equations. The main characteristic is that, it converts the given problem into a system of algebraic equations that can be solved easily with any of the usual methods. To show the accuracy and the efficiency of the method, several benchmark problems are implemented and the comparisons are given with other methods existing in the recent literature. The results of numerical tests confirm that the proposed method is superior to other existing ones and is highly accurate展开更多
This paper deals with off-diagonal operator matrices and their applications in elasticity theory. Two kinds of completeness of the system of eigenvectors are proven, in terms of those of the compositions of two block ...This paper deals with off-diagonal operator matrices and their applications in elasticity theory. Two kinds of completeness of the system of eigenvectors are proven, in terms of those of the compositions of two block operators in the off-diagonal operator matrices. Using these results, the double eigenfunction expansion method for solving upper triangular matrix differential systems is proposed. Moreover, we apply the method to the two-dimensional elasticity problem and the problem of bending of rectangular thin plates on elastic foundation.展开更多
The completeness theorem of the eigenfunction systems for the product of two 2 × 2 symmetric operator matrices is proved. The result is applied to 4 × 4 infinite-dimensional Hamiltonian operators. A modified...The completeness theorem of the eigenfunction systems for the product of two 2 × 2 symmetric operator matrices is proved. The result is applied to 4 × 4 infinite-dimensional Hamiltonian operators. A modified method of separation of variables is proposed for a separable Hamiltonian system. As an application of the theorem, the general solutions for the plate bending equation and the free vibration of rectangular thin plates are obtained. Finally, a numerical test is analysed to show the correctness of the results.展开更多
In this paper, we consider the eigenvalue problem of a class of fourth-order operator matrices appearing in mechan- ics, including the geometric multiplicity, algebraic index, and algebraic multiplicity of the eigenva...In this paper, we consider the eigenvalue problem of a class of fourth-order operator matrices appearing in mechan- ics, including the geometric multiplicity, algebraic index, and algebraic multiplicity of the eigenvalue, the symplectic orthogonality, and completeness of eigen and root vector systems. The obtained results are applied to the plate bending problem.展开更多
We investigate the Furi-Martelli-Vignoli spectrum and the Feng spectrum of continuous nonlinear block operator matrices,and mainly describe the relationship between the Furi-Martelli-Vignoli spectrum(compared to the F...We investigate the Furi-Martelli-Vignoli spectrum and the Feng spectrum of continuous nonlinear block operator matrices,and mainly describe the relationship between the Furi-Martelli-Vignoli spectrum(compared to the Feng spectrum)of the whole operator matrix and that of its entries.In addition,the connection between the Furi-Martelli-Vignoli spectrum of the whole operator matrix and that of its Schur complement is presented by means of Schur decomposition.展开更多
Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
文摘We investigate through this research the numerical inversion technique for the Laplace transforms cooperated by the integration Boubaker polynomials operational matrix.The efficiency of the presented approach is demonstrated by solving some differential equations.Also,this technique is combined with the standard Laplace Homotopy Per-turbation Method.The numerical results highlight that there is a very good agreement between the estimated solutions with exact solutions.
文摘In this paper we use the notion of measure of non-strict-singularity to give some results on Fredholm operators and we establish a fine description of the Schechter essential spectrum of a closed densely defined linear operator.
基金supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China (No. 20070126002)the National Natural Science Foundation of China (No. 10962004)
文摘This paper studies the eigenfunction expansion method to solve the two dimensional （2D） elasticity problems based on the stress formulation. The fundamental system of partial differential equations of the 2D problems is rewritten as an upper tri angular differential system based on the known results, and then the associated upper triangular operator matrix matrix is obtained. By further research, the two simpler com plete orthogonal systems of eigenfunctions in some space are obtained, which belong to the two block operators arising in the operator matrix. Then, a more simple and conve nient general solution to the 2D problem is given by the eigenfunction expansion method. Furthermore, the boundary conditions for the 2D problem, which can be solved by this method, are indicated. Finally, the validity of the obtained results is verified by a specific example.
基金supported by the National Natural Science Foundation of China(Grant No.12031004 and Grant No.12271474,61877054)the Fundamental Research Foundation for the Central Universities(Project No.K20210337)+1 种基金the Zhejiang University Global Partnership Fund,188170+194452119/003partially funded by a state task of Russian Fundamental Investigations(State Registration No.FFSG-2024-0002)。
文摘Fundamental matrix operations and solving linear systems of equations are ubiquitous in scientific investigations.Using the‘sender-receiver’model,we propose quantum algorithms for matrix operations such as matrix-vector product,matrix-matrix product,the sum of two matrices,and the calculation of determinant and inverse matrix.We encode the matrix entries into the probability amplitudes of the pure initial states of senders.After applying proper unitary transformation to the complete quantum system,the desired result can be found in certain blocks of the receiver’s density matrix.These quantum protocols can be used as subroutines in other quantum schemes.Furthermore,we present an alternative quantum algorithm for solving linear systems of equations.
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB30000000)the National Natural Science Foundation of China(Grant Nos.11774398 and T2121001)。
文摘We study the structure of the continuous matrix product operator(cMPO)^([1]) for the transverse field Ising model(TFIM).We prove TFIM’s cMPO is solvable and has the form T=e^(-1/2H_(F)).H_(F) is a non-local free fermionic Hamiltonian on a ring with circumferenceβ,whose ground state is gapped and non-degenerate even at the critical point.The full spectrum of H_(F) is determined analytically.At the critical point,our results verify the state–operator-correspondence^([2]) in the conformal field theory(CFT).We also design a numerical algorithm based on Bloch state ansatz to calculate the lowlying excited states of general(Hermitian)cMPO.Our numerical calculations coincide with the analytic results of TFIM.In the end,we give a short discussion about the entanglement entropy of cMPO’s ground state.
文摘Embedded systems used in real-time applications require low power, less area and high computation speed. For digital signal processing, image processing and communication applications, data are often received at a continuously high rate. The type of necessary arithmetic functions and matrix operations may vary greatly among different applications. The RTL-based design and verification of one or more of these functions could be time-consuming. Some High Level Synthesis tools reduce this design and verification time but may not be optimal or suitable for low power applications. The design tool proposed in this paper can improve the design time and reduce the verification process. The design tool offers a fast design and verification platform for important matrix operations. These operations range from simple addition to more complex matrix operations such as LU and QR factorizations. The proposed platform can improve design time by reducing verification cycle. This tool generates Verilog code and its testbench that can be realized in FPGA and VLSI systems. The designed system uses MATLAB-based verification and reporting.
文摘In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathematical model is divided into four classes using fractal parameters for COVID-19 dynamics,namely,susceptible(S),infected(I),treatment(T),and recovered(R).The main idea of the presented method is based on the matrix representations of the exponential functions and their derivatives using collocation points.To indicate the usefulness of this method,we employ it in some cases.For error analysis of the method,the residual of the solutions is reviewed.The reported examples show that the method is reasonably efficient and accurate.
文摘In this paper, a new numerical method for solving fractional differential equations(FDEs) is presented. The method is based upon the fractional Taylor basis approximations. The operational matrix of the fractional integration for the fractional Taylor basis is introduced. This matrix is then utilized to reduce the solution of the fractional differential equations to a system of algebraic equations. Illustrative examples are included to demonstrate the validity and applicability of this technique.
基金NSF Grants 11471105 of China, NSF Grants 2016CFB526 of Hubei Province, Innovation Team of the Educational Department of Hubei Province T201412, and Innovation Items of Hubei Normal University 2018032 and 2018105
文摘This paper investigates the numerical solution of two-dimensional nonlinear stochastic Itô-Volterra integral equations based on block pulse functions. The nonlinear stochastic integral equation is transformed into a set of algebraic equations by operational matrix of block pulse functions. Then, we give error analysis and prove that the rate of convergence of this method is efficient. Lastly, a numerical example is given to confirm the method.
文摘In a modern electrical driver, rotor field oriented control an appropriate transient response. In this method, the space （RFOC） method has been used to achieve a good performance and vector of the rotor flux comes handy by the rotor resistance value. The rotor resistance is one of the important parameters which varies according to motor speed and room temperature alteration. In this paper, a new on-line estimation method is utilized to obtain the rotor resistance by using Walsh functions domain. The Walsh functions are one of the most applicable functions in piecewise constant basis functions （PCBF） to solve dynamic equations. On the other hand, an integral operational matrix is used to simplify the process and speed of the computation algorithm. The simulations results show that the proposed method is capable of solving the dynamic equations in an electrical machine on a time interval which robustly estimates the rotor resistance in contrast with injection noises.
基金Supported by the NSF of Hubei Province(2022CFD042)。
文摘This paper proposes a method combining blue the Haar wavelet and the least square to solve the multi-dimensional stochastic Ito-Volterra integral equation.This approach is to transform stochastic integral equations into a system of algebraic equations.Meanwhile,the error analysis is proven.Finally,the effectiveness of the approach is verified by two numerical examples.
文摘This paper investigates the nonlinear boundary value problem resulting from the exact reduction of the Navier-Stokes equations for unsteady magnetohydrodynamic boundary layer flow over the stretching/shrinking permeable sheet submerged in a moving fluid.To solve this equation,a numerical method is proposed based on a Laguerre functions with reproducing kernel Hilbert space method.Using the operational matrices of derivative,we reduced the problem to a set of algebraic equations.We also compare this work with some other numerical results and present a solution that proves to be highly accurate.
基金supported by the Natural Science Foundation of Hebei Province under Grant No.A2012203407
文摘A framework to obtain numerical solution of the fractional partial differential equation using Bernstein polynomials is presented. The main characteristic behind this approach is that a fractional order operational matrix of Bernstein polynomials is derived. With the operational matrix, the equation is transformed into the products of several dependent matrixes which can also be regarded as the system of linear equations after dispersing the variable. By solving the linear equations, the numerical solutions are acquired. Only a small number of Bernstein polynomials are needed to obtain a satisfactory result. Numerical examples are provided to show that the method is computationally efficient.
文摘In this paper,first,Bernstein multi-scaling polynomials(BMSPs)and their properties are introduced.These polynomials are obtained by compressing Bernstein polynomials(BPs)under sub-intervals.Then,by using these polynomials,stochastic operational matrices of integration are generated.Moreover,by transforming the stochastic integral equation to a system of algebraic equations and solving this system using Newton’s method,the approximate solution of the stochastic Ito^(^)-Volterra integral equation is obtained.To illustrate the efficiency and accuracy of the proposed method,some examples are presented and the results are compared with other methods.
文摘The basic aim of this paper is to introduce and describe an efficient numerical scheme based on spectral approach coupled with Chebyshev wavelets for the approximate solutions of Klein-Gordon and Sine-Gordon equations. The main characteristic is that, it converts the given problem into a system of algebraic equations that can be solved easily with any of the usual methods. To show the accuracy and the efficiency of the method, several benchmark problems are implemented and the comparisons are given with other methods existing in the recent literature. The results of numerical tests confirm that the proposed method is superior to other existing ones and is highly accurate
基金Project supported by the National Natural Science Foundation of China(Grant Nos.10962004 and 11061019)the Doctoral Foundation of Inner Mongolia(Grant Nos.2009BS0101 and 2010MS0110)+1 种基金the Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20070126002)the Chunhui Program of the Ministry of Education of China(Grant No.Z2009-1-01010)
文摘This paper deals with off-diagonal operator matrices and their applications in elasticity theory. Two kinds of completeness of the system of eigenvectors are proven, in terms of those of the compositions of two block operators in the off-diagonal operator matrices. Using these results, the double eigenfunction expansion method for solving upper triangular matrix differential systems is proposed. Moreover, we apply the method to the two-dimensional elasticity problem and the problem of bending of rectangular thin plates on elastic foundation.
基金supported by the National Natural Science Foundation of China (Grant No. 10962004)the Natural Science Foundation of Inner Mongolia Autonomous Region of China (Grant No. 20080404MS0104)
文摘The completeness theorem of the eigenfunction systems for the product of two 2 × 2 symmetric operator matrices is proved. The result is applied to 4 × 4 infinite-dimensional Hamiltonian operators. A modified method of separation of variables is proposed for a separable Hamiltonian system. As an application of the theorem, the general solutions for the plate bending equation and the free vibration of rectangular thin plates are obtained. Finally, a numerical test is analysed to show the correctness of the results.
基金supported by the National Natural Science Foundation of China (Grant Nos. 11061019 and 10962004)the Chunhui Program of Ministry of Education of China (Grant No. Z2009-1-01010)+1 种基金the Natural Science Foundation of Inner Mongolia, China(Grant Nos. 2010MS0110 and 2009BS0101)the Cultivation of Innovative Talent of ‘211 Project’ of Inner Mongolia University
文摘In this paper, we consider the eigenvalue problem of a class of fourth-order operator matrices appearing in mechan- ics, including the geometric multiplicity, algebraic index, and algebraic multiplicity of the eigenvalue, the symplectic orthogonality, and completeness of eigen and root vector systems. The obtained results are applied to the plate bending problem.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11561048 and 11761029)the Natural Science Foundation of Inner Mongolia,China(Grant Nos.2019MS01019 and 2020ZD01)。
文摘We investigate the Furi-Martelli-Vignoli spectrum and the Feng spectrum of continuous nonlinear block operator matrices,and mainly describe the relationship between the Furi-Martelli-Vignoli spectrum(compared to the Feng spectrum)of the whole operator matrix and that of its entries.In addition,the connection between the Furi-Martelli-Vignoli spectrum of the whole operator matrix and that of its Schur complement is presented by means of Schur decomposition.
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
