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- Josip Kasac, Josko Deur, Branko Novakovic, Ilya V. Kolmanovsky
- 2009 IEEE Control Applications, (CCA…
- 2009

The paper presents a conjugate gradient-based numerical algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-in-time recurrent structure similar to the backpropagation-through-time (BPTT) algorithm. The emphasis is on implementation and testing of various conjugate gradient… (More)

- Josip Kasac, Branko Novakovic, Dubravko Majetic, Danko Brezak
- IEEE Trans. Automat. Contr.
- 2006

The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this paper a… (More)

- Josip Kasac, Josko Deur, Branko Novakovic, Ilya V. Kolmanovsky, Francis Assadian
- IEEE Trans. Contr. Sys. Techn.
- 2011

The paper presents a gradient-based algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-intime recurrent structure similar to the backpropagation-throughtime (BPTT) algorithm, which is mostly used as a learning algorithm for dynamic neural networks. Other main features of… (More)

- Branko Novakovic
- IEEE Trans. Systems, Man, and Cybernetics, Part B
- 1999

A new analytic fuzzy logic control (FLC) system synthesis without any rule base is proposed. For this purpose the following objectives are preferred and reached: 1) an introduction of a new adaptive shape of fuzzy sets and a new adaptive distribution of input fuzzy sets, 2) a determination of an analytic activation function for activation of output fuzzy… (More)

- Danko Brezak, Toma Udiljak, Dubravko Majetic, Branko Novakovic, Josip Kasac
- 2004 IEEE International Joint Conference on…
- 2004

This work considers the application of radial basis function neural network (RBFNN) for tool wear determination in the milling process. Tool wear, i.e., flank wear zone widths, have been estimated in two phases using two types of RBFNN algorithms. In the first phase, RBFNN pattern recognition algorithm is used in order to classify tool wear features in… (More)

- Josip Kasac, Branko Novakovic, Dubravko Majetic, Danko Brezak
- IEEE Trans. Contr. Sys. Techn.
- 2008

In this paper a new class of finite dimensional repetitive controllers for robot manipulators is proposed. The global asymptotic stability is proved for the unperturbed system. The passivity-based design of the proposed repetitive controller avoids the problem of tight stability conditions and slow convergence of the conventional, internal model-based,… (More)

- Danko Brezak, Tomislav Bacek, Dubravko Majetic, Josip Kasac, Branko Novakovic
- 2012 IEEE Conference on Computational…
- 2012

Forecasting performances of feed-forward and recurrent neural networks (NN) trained with different learning algorithms are analyzed and compared using the Mackey-Glass nonlinear chaotic time series. This system is a known benchmark test whose elements are hard to predict. Multi-layer Perceptron NN was chosen as a feed-forward neural network because it is… (More)

- Branko Novakovic
- IEEE Trans. Systems, Man, and Cybernetics, Part B
- 1996

A new very fast algorithm for synthesis of a new structure of discrete-time neural networks (NN) is proposed. For this purpose the following concepts are employed: (i) combination of input and output activation functions, (ii) input time-varying signal distribution, (iii) time-discrete domain synthesis and (iv) one-step learning iteration approach. The… (More)

In this paper a new class of globally stable controllers for robot manipulators is proposed. The global asymptotic stabilization is achieved by adding a nonlinear damping term to linear PID controller. By using Lyapunov’s direct method and LaSalle’s invariance principle, explicit conditions on controller parameters which ensure global asymptotic stability… (More)

- Josip Kasac, Vladimir Milic, Branko Novakovic, Dubravko Majetic, Danko Brezak
- 2012 20th Mediterranean Conference on Control…
- 2012

The paper presents a gradient-based algorithm for initial conditions optimization of nonlinear multivariable systems with boundary and state vectors constraints. The algorithm has a backward-in-time recurrent structure similar to the backpropagation-through-time (BPTT) algorithm, which is mostly used as a learning algorithm for dynamic neural networks. It… (More)