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We present new characterizations of the Input to State Stability property. As a consequence of these results, we show the equivalence between the ISS property and several (apparent) variations proposed in the literature.

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This paper presents necessary and sufficient characterizations of several notions of input to output stability. Similar Lyapunov characterizations have been found to play a key role in the analysis of the input to state stability property, and the results given here extend their validity to the case when the output, but not necessarily the entire internal state, is being regulated.

This paper deals with concepts of output stability. Inspired in part by regulator theory, several variants are considered, which differ from each other in the requirements imposed upon transient behavior. The main results provide a comparison among the various notions, all of which specialize to input to state stability (iss) when the output equals the complete state.

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In this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for the multiple nonholonomic mobile robots formation. First, a model-based monocular vision method is developed to obtain the location information of the leader. Then, a separation-bearing-orientation scheme (SBOS) control strategy is proposed. During the formation motion, the leader robot is controlled to track the desired trajectory and the desired leader-follower relationship can be maintained through the SBOS method. Finally, the model predictive control (MPC) is utilized to maintain the desired leader-follower relationship. To solve the MPC generated constrained quadratic programming problem, the neural-dynamic optimization approach is used to search for the global optimal solution. Compared to other existing formation control approaches, the proposed solution is that the NMPC scheme exploit prime-dual neural network for online optimization. Finally, by using several actual mobile robots, the effectiveness of the proposed approach has been verified through the experimental studies.

Our result of low level of NAA/Cr in the affected PM-Th probably serves as a marker of the pain-rating index, and decreased Cho/Cr in IL-Th may be an indicator of cognitive disorder in patients with ITN.