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Articles 2761 - 2790 of 3977
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Skeleton Extraction From Three-Dimensional Maize Based On Kinect, Zhili Fang, Weiliang Wen, Xinyu Guo, Jianwei Wu
Skeleton Extraction From Three-Dimensional Maize Based On Kinect, Zhili Fang, Weiliang Wen, Xinyu Guo, Jianwei Wu
Journal of System Simulation
Abstract: Aiming at acquiring three-dimensional skeleton of maize plant efficiently, an automatic three-dimensional maize plant skeleton extraction method based on Kinect data was proposed. Kinect data was transformed into point cloud data. Backgroundpoint cloud was deleted by threshold segmentation and the point cloud was stratified according to the height of the 3D model. Each layer was clustered by two circle iteration and the center points of each cluster could be obtained. The set of center points could be considered as the skeleton points of maize. The quadratic B-spline interpolation curve was used to obtain relatively accurate and smooth linear …
Study On Motion Cueing Algorithm Of High-Fidelity Based On Fuzzy Logic, Wang Hui, Daoyang Zhu, Ping Fan
Study On Motion Cueing Algorithm Of High-Fidelity Based On Fuzzy Logic, Wang Hui, Daoyang Zhu, Ping Fan
Journal of System Simulation
Abstract: Because classical washout algorithm exists false cues and phase retardation, these problems cause the lack of motion proprioceptive fidelity in flight simulators. By combining human vestibular perception system and the theory of fuzzy logic control to regulate the feedback of its sensory error, the translational acceleration channel, the Tilt coordination channel and the angular velocity channel of classical wash out algorithm were compensated, respectively. Simulation and modeling was carried out by fuzzy logic washout algorithm, and simulation verification was conducted on a set of flight data within fuzzy logic washout algorithm. The simulation results show that the theory of …
Topology Control Algorithm Based On Link Available Time For Cognitive Radio Network, Huaide Yang
Topology Control Algorithm Based On Link Available Time For Cognitive Radio Network, Huaide Yang
Journal of System Simulation
Abstract: The topology changes frequently in cognitive wireless network as nodes' mobility, the main user interference, residual energy of nodes which cause link unavailable. A new topology control algorithm based on predict of link available time was proposed to resolve the problem. The algorithm forecasted link available time using probabilistic principles, and built a stable topology with longest available time links. Simulation results show that the new algorithm can take advantage of links with low mobility nodes, less interference caused by the primary user, and large remaining energy, simplify the network topology, effectively reduce the cost of the link topology …
Fault Diagnosis Algorithm Of Permanent Magnet Synchronous Motor Based On Improved Elm, Wang Xin, Wang Yan, Zhicheng Ji
Fault Diagnosis Algorithm Of Permanent Magnet Synchronous Motor Based On Improved Elm, Wang Xin, Wang Yan, Zhicheng Ji
Journal of System Simulation
Abstract: In order to address the common problems of lacking of phase and interturn short circuit fault, after analyzing the basic and corresponding fault model of permanent magnet synchronous motor(PMSM), an improved extreme learning machine (IELM) algorithm was proposed based on self-adaptive second-order particle swarm optimization (SaSECPSO). SaSECPSO employed adaptive inertia weight and cognitive coefficient with linear variation to improve the convergence rate and accuracy of second-order particle swarm optimization (SECPSO). In addition, the recognition rate of extreme learning machine (ELM) when solving the fault model of PMSM could be significantly improved by using SaSECPSO to simultaneously optimize input weights …
Disruption Management Simulation For Multi-Mode Resource-Constrained Project Scheduling Problem, Shengming Liu, Shuxing Feng
Disruption Management Simulation For Multi-Mode Resource-Constrained Project Scheduling Problem, Shengming Liu, Shuxing Feng
Journal of System Simulation
Abstract: As the disruption management simulation for multi-mode resource-constrained project scheduling problem received little concern, a pretty reasonable disruption management simulation process was designed. After analyzing the functional weakness of MS Project, disruption management simulation for multi-mode resource-constrained project scheduling problem was implemented by optimized computation of CPLEX Studio IDE. According to examples from Project Scheduling Problem Library, the cases of a single disruption in a single moment and multiple disruptions in multiple moments were simulated as well as analyzed. The results show that the resource conflicts play an important role on time limit of whole project and simulation process …
Optimization On Search Submarine Parameters Of Dipping Sonar Using Orthogonal Design Method, Musheng Luo, Zongjie Wang, Wencai Ge
Optimization On Search Submarine Parameters Of Dipping Sonar Using Orthogonal Design Method, Musheng Luo, Zongjie Wang, Wencai Ge
Journal of System Simulation
Abstract: To solve the limitation of multi-parameter analysis using one by one optimization method, search submarine parameters optimization of antisubmarine helicopter using dipping sonar was studied. After analyzing the submarine-search process of dipping sonar, search probability and average time of search cost were made as the indexes. The seven primary factors which influenced submarine-search efficiency were analyzed and corresponding factorial levels were selected. Based on orthogonal design method, the orthogonal test schemes of L18(61×36) were built, which could simulate seven parameters when their value changed simultaneously. Monte Carlo simulation model was built and all …
Modeling And Control Method Of Photovoltaic Micro-Inverter, Weiliang Liu, Chunlai Li, Changliang Liu, Yinsong Wang, Yongjun Lin, Liangyu Ma, Wenying Chen
Modeling And Control Method Of Photovoltaic Micro-Inverter, Weiliang Liu, Chunlai Li, Changliang Liu, Yinsong Wang, Yongjun Lin, Liangyu Ma, Wenying Chen
Journal of System Simulation
Abstract: Photovoltaic micro-inverter can solve the poor reliability and low efficiency problem of centralized inverter, therefore it has a good application prospect. Small signal analysis model was established for the photovoltaic micro-inverter with flyback topology structure. Considering function of reverse current prevention being required when it was applied to the low voltage distribution network, control methods were disigned respectively for load current tracking mode and maximum power point tracking mode, and the controller parameters were optimized using genetic algorithm. Experimental and simulation results show that the micro-inverter can steadily work in two different modes, and reduce the harmonic content …
Uav-Mimo Channel Characteristic Analysis Based On Gbsbcs Model, Xijun Gao, Zili Chen, Yongjiang Hu, Zidong Zhou
Uav-Mimo Channel Characteristic Analysis Based On Gbsbcs Model, Xijun Gao, Zili Chen, Yongjiang Hu, Zidong Zhou
Journal of System Simulation
Abstract: The simple form of UAV space-time-frequency channel correlation function was presented based on the three-dimensional geometrically based single bounce concentric elliptic ring scattering (GBSBCER) channel model of Multi-Input Multi-Output(MIMO)for Unmanned Aerial Vehicle (UAV). The analytic formula of UAV-MIMO normalized correlation matrix was deduced. The effect of antennas structures, flight distance and scatters distributing on the characteristic parameters such as the condition number of UAV-MIMO channel matrix and the channel capacity were analyzed by this formula. The simulation results show that, the performance of UAV-MIMO communication can be improved by reasonably arranging the antennas, adjusting the flight parameters, which …
Magnetic Levitation System Simulating And Its Chaos Research, Jiang Dong, Deshan Kong, Xukun Liu, Jiaxiang Yang, Deyu Wang
Magnetic Levitation System Simulating And Its Chaos Research, Jiang Dong, Deshan Kong, Xukun Liu, Jiaxiang Yang, Deyu Wang
Journal of System Simulation
Abstract: The physical model, mathematical model and simulation model of the magnetic levitation system were set up. The function among magnetic force, electromagnet current and distance was deduced after the measuring. The dynamic equation of magnetic levitation ball was derived. The simulation model of the magnetic levitation ball system was set up. The simulation experiments for no vibration and external vibration and chaos state of the system were conducted. The phase trajectories of stable, quasi-periodic and chaotic states were researched. The waveforms of no vibration and external vibration and chaos state were measured. The tests show that the measured waveforms …
Research And Simulation On Control Algorithm For Multi-Objective Optimization Of Urban Rail Train, Jianjun Meng, Minggao Pei, Wu Fu, Tengzhou Wei, Hao Shuai
Research And Simulation On Control Algorithm For Multi-Objective Optimization Of Urban Rail Train, Jianjun Meng, Minggao Pei, Wu Fu, Tengzhou Wei, Hao Shuai
Journal of System Simulation
Abstract: According to the characteristics of urban rail train running multiple objective, the multi-objective operation model for urban rail train was established with the energy consumption, punctuality, accurate parking and comfort level as the optimization indexes. Genetic algorithms was used to optimize running multi-objective model of urban rail train, and according to train traction calculation and computer simulation, the train running target curve was obtained. The fuzzy control and PID control algorithm were applied to urban rail train system to establish adaptive fuzzy PID controller and PID control in order to track the target curve. Simulation results show that adaptive …
Filtering Based Maximum Likelihood Stochastic Gradient Prediction On Wind Power Curtailment, Ziyun Wang, Zhicheng Ji
Filtering Based Maximum Likelihood Stochastic Gradient Prediction On Wind Power Curtailment, Ziyun Wang, Zhicheng Ji
Journal of System Simulation
Abstract: The parameter estimation problem of Hammerstein finite impulse response models and its application on the wind curtailment prediction field were considered. By adopting the maximum likelihood principle, the maximum likelihood estimate was obtained by minimizing the likelihood function. To reduce the impact of the unknown noise term, the maximum likelihood idea and the filtering theory were combined by changing the coupled nonlinear model into a parameter-independent model and to derive a filtering based maximum likelihood stochastic gradient algorithm for the Hammerstein system modeling on wind power curtailment prediction. The given simulation validates that the proposed algorithm can identify the …
Improved Harmony Search Algorithm In Application Of Vulcanization Workshop Scheduling, Longcheng Wu, Huang Song, Wang Yan, Zhicheng Ji
Improved Harmony Search Algorithm In Application Of Vulcanization Workshop Scheduling, Longcheng Wu, Huang Song, Wang Yan, Zhicheng Ji
Journal of System Simulation
Abstract: For solving the problem of low productivity and low machine utilization caused by unreasonable assignment in tire vulcanizing process, an improved Discrete Harmony Search (Improved Harmony Search, IHS) Algorithm was proposed to optimize the maximum completion time of vulcanizing workshop scheduling. This algorithm has three processes including individual memory consideration process, disturbance search process and competitive selection mechanism. In the competitive selection mechanism, the corresponding individual in harmony memory or worst solution was replaced with new solution and harmony memory was updated. That strategy made each individual in memory more quickly fly to the optimal solution. The algorithm was …
Research On Compensation Algorithms For Pneumatic Distortion Of Pneumatic Tube, Haifa Dai, Jianwu Tao, Yueming Yang
Research On Compensation Algorithms For Pneumatic Distortion Of Pneumatic Tube, Haifa Dai, Jianwu Tao, Yueming Yang
Journal of System Simulation
Abstract: Based on the problem for velocity attenuation of Flush Air-Data Sensing (FADS) system, a compensation algorithm was developed to compensate for the pneumatic distortion. The principle of velocity measurement by Flush Air Data Sensing (FADS) system based on vector sensor was introduced, the attenuation model was reduced to a second order, state variable model, the comparison of frequency response with both model verifying that the reduced model remains the most dynamic characteristics of the original one. Then, based on the state variable model, the algorithm to compensate for distortion was developed by utilizing minimum estimation theory and Kalman filtering …
Research On Weapon System Design For Risk Management Based On Object-Process Methodology, Zheng Zhan, Yao Jian, Yang Feng, Wenguang Wang
Research On Weapon System Design For Risk Management Based On Object-Process Methodology, Zheng Zhan, Yao Jian, Yang Feng, Wenguang Wang
Journal of System Simulation
Abstract: In order to improve the integration and coordination of the weapon systems engineering and risk management, a new approach was proposed that integrated risk aspects with system analysis, modeling and design in weapon systems engineering. The approach established the lifecycle model of the weapon systems engineering to realize the risk identification and control in risk management based on OPM (Object-Process Methodology). V & V (verification and validation) was implemented to the OPM model by the simulation and execution progress, which significantly ensured the correctness and consistency of information and knowledge. It shows a case of UAV-based anti-missile defense system …
Intelligent Acp Based Experimental Approach, Bin Chen, Xiaogang Qiu, Yiping Wang
Intelligent Acp Based Experimental Approach, Bin Chen, Xiaogang Qiu, Yiping Wang
Journal of System Simulation
Abstract: As an approach to solve the problems in complex system research, ACP (Artificial Society, Computational Experiments, Parallel Execution) has played an important role in research fields such as public safety. With the development of information technologies such as big data, intelligent learning, game play theory, an intelligent ACP based experimental approach was proposed to solve the kernel problems in current complex system research. The possibility analysis of the approach in public safety, biological threats and joint combat experiments was illustrated. The applications including evacuation, network opinion and chemical industrial park security of the approach in safety science …
Modeling And Simulation Of Superheated Steam Temperature Based On Multi-Objective Genetic Algorithm, Zhenlong Wu, Ting He, Lingmei Wang, Fengsheng Jia, Yunkai Yang, Haishu Wu, Donghai Li, Han Lei
Modeling And Simulation Of Superheated Steam Temperature Based On Multi-Objective Genetic Algorithm, Zhenlong Wu, Ting He, Lingmei Wang, Fengsheng Jia, Yunkai Yang, Haishu Wu, Donghai Li, Han Lei
Journal of System Simulation
Abstract: The high order inertial transfer functions were used to approximate the distribution parameter model. In order to compare the influence of the order of the leading region and the inertia object model on the accuracy and get the dynamic parameters, the multi-objective genetic algorithm was used to optimize the model parameters according to the actual operation data of the power plant. The higher the order, the Pareto front moves forward and recognizes the higher accuracy by the simulation when the orders are in a reasonable range. The reasonable superheated steam temperature system model was established considering the engineering …
Threat Assessment Of Aircraft Carrier Formation Based On Hierarchical Bayesian Network, Chen Long, Yaping Ma
Threat Assessment Of Aircraft Carrier Formation Based On Hierarchical Bayesian Network, Chen Long, Yaping Ma
Journal of System Simulation
Abstract: The use of bayesian network model for threat assessment is a relatively new quantitative analysis method. The hierarchical bayesian network model was applied to aircraft carrier formation to assess submarine formation threat for the first time, which also assessed the threat level of the submarine formation, to achieve the purpose of assisting decision-making for aircraft carrier formation commanders in anti-submarine warfare. The hierarchical bayesian network model was described. The causes and the mechanism of the aircraft carrier formation from the underwater target threat, integrated force data, institutional experts and information were analyzed. A reliable aircraft carrier formation hierarchical …
Simulation-Based Optimization For Site Selection Of Agv Charging Mode, Danlan Xie, Haihong Yu, Chen Jing, Zhipeng Gao, Zhanghao Zhang
Simulation-Based Optimization For Site Selection Of Agv Charging Mode, Danlan Xie, Haihong Yu, Chen Jing, Zhipeng Gao, Zhanghao Zhang
Journal of System Simulation
Abstract: With the development of intelligent manufacturing, automation of production line is improving. AGV (automated guided vehicle) as a necessary device in the automation system, it is important to design its charging system. Aiming at the problem of the site selection of online charging, the software FlexSim was used to build simulation model, based on the operation requirements of an actual assembly shop, in an actual planning process. Through a large number of simulation experiments, the maximum stay location of AGV in the different lines was obtained under the influence of random factors. By comparing the idle and blocked …
Theoretical Model And Validation Of Delivery Time Of Ltp In Deep Space Communication, Wang Yang, Yang Hong, Xiaoguang Chen, Ding Kai
Theoretical Model And Validation Of Delivery Time Of Ltp In Deep Space Communication, Wang Yang, Yang Hong, Xiaoguang Chen, Ding Kai
Journal of System Simulation
Abstract: An accurate theoretical model of LTP in deep space communication was established, taking into account the characteristics of extremely long propagation delay, intermittent connectivity, asymmetric data rates and high error rates. Compared with the theoretical model built before, the model paid more attention to the different impacts of losses of different types of LTP data segments, multiple-session transmission characteristic of LTP, and calculated the expected value of transmission rounds. The performance of theoretical model with different channel BERs and file sizes was simulated and analyzed by MATLAB. A DTN testbed was built and the actual file transfer experiments …
Identification Of Takagi-Sugeno Model With Self-Gravitational Search Algorithm, Ao Yuan, Xueming Ding
Identification Of Takagi-Sugeno Model With Self-Gravitational Search Algorithm, Ao Yuan, Xueming Ding
Journal of System Simulation
Abstract: An approach of Self-Gravitational Search Algorithm (SGSA) was proposed for the identification of T-S fuzzy model. In the identification of T-S model, structure parameters and consequent parameters were encoded into a particle of SGSA. Based on new strategies, all the individuals in SGSA dynamically adjusted the distance and force between particles according to the intensity of the swarm, and the gravitational constant was adaptively alerted. As a result, the global search ability of the proposed SGSA was enhanced in the earlier stage of the search process to prevent the algorithm from trapping into local regions, in the mean while; …
Real-Time Simulation Of Realistic Melting In Fluid-Solid Interaction, Xuqiang Shao, Song Yu
Real-Time Simulation Of Realistic Melting In Fluid-Solid Interaction, Xuqiang Shao, Song Yu
Journal of System Simulation
Abstract: In order to realize real-time simulation of realistic melting in fluid-solid coupling, a particle-based GPU parallel simulation method was proposed. This method employed an implicit heat diffusion model which took the heat conduction properties of materials to update the temperatures of each particle. Based on the lattice shape matching method, a stable topology change method was proposed to simulate the conversion of solid particles to the fluid particles. In order to improve the time performance of each time step, a parallel simulation method entirely implemented on GPU was put forward, and an iterative filling algorithm was designed to dynamically …
Visual Simulation Of Eroded Rill Evolution Process On Graphics Processing Unit, Mansheng Long
Visual Simulation Of Eroded Rill Evolution Process On Graphics Processing Unit, Mansheng Long
Journal of System Simulation
Abstract: A slope erosion model based on CA (Cellular Automata) and a corresponding simulation algorithm based on GPU (Graphics Processing Unit) were proposed to visualize rapidly the dynamic process of water erosion and microrelief development on hillslope under rainfall events. The model is composed of processes such as rainfall, infiltration, runoff, erosion, deposition, and sediment transport. At each time step, water and sediment were exchanged among adjacent cells observing sediment mass conservation law and flow continuity equation. All cells update their runoff and sediment simultaneously complying with the above simple rules so as to realize the evolution of hillslope microrelief. …
Research Of The Construction Of Gis-T Traffic Simulation Road Network, Huang Min, Zhongming Niu, Xiaolan Zhang, Jiajie Pan, Xueqiang Zhang
Research Of The Construction Of Gis-T Traffic Simulation Road Network, Huang Min, Zhongming Niu, Xiaolan Zhang, Jiajie Pan, Xueqiang Zhang
Journal of System Simulation
Abstract: In order to provide road network data for traffic simulation platform on the base of GIS-T, a GIS-T road network data model was created. The model put the emphasis on the description of traffic rules and road markings. On the basis of data model, a quantified cut method for linear referencing was proposed and the method was adopted to create road network element, such as lane boundary and road surface. Furthermore, the carriageway was regarded as the unit to keep the shape of road segment, and flow of building a road network was put forward. An intersection …
Study On Simulation Technology Of Agile Satellite Working Mode Based On Mvc, Zhao Lin, Huizhi Yang, Hao Yong, Liu Yuan, Xiaowen Wu
Study On Simulation Technology Of Agile Satellite Working Mode Based On Mvc, Zhao Lin, Huizhi Yang, Hao Yong, Liu Yuan, Xiaowen Wu
Journal of System Simulation
Abstract: To study on the method and effectiveness of large angle maneuver and push broom imaging for agile satellite, an agile satellite working mode simulation system was established based on MVC though analyzing imaging model, satellite parameters and orbital parameters of Quickbird2, a high resolution of commercial remote sensing satellite in the United States. The simulation system took VC2010 as software development environment, adopted MVC framework technology to realize information exchange between various members of the system, put satellite orbit data, attitude data and imaging data of simulation output into STK engine to realize 2D/3D scene visualization of agile satellite …
Research On Assessment And Decision Making Simulation Platform For Performance Of Diesel Engine Mixed With Water, Xianghuan Zu, Chuanlei Yang, Yinyan Wang
Research On Assessment And Decision Making Simulation Platform For Performance Of Diesel Engine Mixed With Water, Xianghuan Zu, Chuanlei Yang, Yinyan Wang
Journal of System Simulation
Abstract: Focusing on assessment and decision making of the performance of diesel engine mixed with water under different water blending proportion, the grey decision making model for the best water blending proportion and evaluation model were established and implemented with the language of MATLAB based on grey decision making and grey-correlation analysis at first, which can offer theory supporting for the decision making of the best water blending proportion. The assessment and decision-making simulation platform was designed by GUI, which has the function of correlation analysis, decision making of the best water blending proportion, etc. The simulation platform case shows …
Research On City Agglomeration Compound Traffic Reliability, Chengbing Li, Yucheng Hao, Wenying Wang
Research On City Agglomeration Compound Traffic Reliability, Chengbing Li, Yucheng Hao, Wenying Wang
Journal of System Simulation
Abstract: To improve the city agglomeration traffic network's ability to fight a sudden disasters, empirical research was made on city agglomeration traffic network reliability from a new view. The weighted traffic network model of the single transportation mode in urban agglomeration was built so that city agglomeration compound traffic network was formed by the superposition. The change of the traffic network reliability was quantified from relative size maximum connectivity graph, local efficiency rate, global efficiency rate. The nodes and edges of weighted road traffic network and compound traffic network face random attack and deliberate attack were simulated, analyzing …
Analysis Of Evolutionary Game Of Stakeholders In Service-Oriented Manufacturing Project Governance, Benhong Peng, Xiaofen Gu, Lu Qian
Analysis Of Evolutionary Game Of Stakeholders In Service-Oriented Manufacturing Project Governance, Benhong Peng, Xiaofen Gu, Lu Qian
Journal of System Simulation
Abstract: For the project governance of service-oriented manufacturing, there are three stakeholders, namely core manufacturer, customer, and service provider. Stability of three participants' evolutionary game was analyzed, the evolutionary game model was constructed and the dynamic game process of three - party Strategy Selection was studied by means of system dynamics simulation. Research shows that three participants eventually reach a steady state, which is core manufacture supervising, customer joining in, and service provider working hard; customer pays more attention to insured factors when choosing strategy; service provider's endeavor does not always aggrandize customer's expected revenue; The core manufacturing should fix …
Numerical Study Of Characteristics Of Gas Liquid Coaxial Injector As Acoustic Resonator, Honghui An, Wansheng Nie
Numerical Study Of Characteristics Of Gas Liquid Coaxial Injector As Acoustic Resonator, Honghui An, Wansheng Nie
Journal of System Simulation
Abstract: The gas-liquid injector of the rocket engine was simplified to a quarter-wave resonator and a half-wave resonator respectively by adopting linear acoustic analysis. Acoustic-damping effect of the length and inlet jet of the injector on the first tangential mode of the chamber was found for ambient condition. It is found that when the first order longitudinal mode frequency of the injector is equal to the acoustic mode frequency of the combustion chamber intended for damping, for the inlet jet is choked, the optimum length of the injector to maximize damping capacity is near quarter of a full wavelength of …
Optimal Configuration Method Of Block Spare Parts For K/N Systems Considering Cannibalization, Yongpan Wang, Chunhe Chang, Jiangping Yang
Optimal Configuration Method Of Block Spare Parts For K/N Systems Considering Cannibalization, Yongpan Wang, Chunhe Chang, Jiangping Yang
Journal of System Simulation
Abstract: Aiming at the configuration problem of block spare parts in k/N systems, an optimal configuration method of block spare parts considering cannibalization and on-condition maintenance was proposed. A spare parts fill rate model for k/N systems was established on the basis of two parameters named cannibalization rate and SRU replacement rate, and the constraint conditions of both the parameters were given respectively. An optimal configuration model was built, which chose the minimum spare costs as the object and the spare fill rate as the subject, and a model solution algorithm based on the margin analysis theory was given. …
Adaptive Control For Hydraulic Servo Position System With Bounded Input, Jianfei Shi, Shujuan Yi
Adaptive Control For Hydraulic Servo Position System With Bounded Input, Jianfei Shi, Shujuan Yi
Journal of System Simulation
Abstract: An adaptive state feedback controller based on neural network fitting was proposed for hydraulic servo position systems containing parameter uncertainties, external disturbance and bounded input problem. Taking the saturation characteristic into account sufficiently, the adaptive state feedback trajectory tracking controller was designed with an adaptive law to real-timely adjust the disturbance parameters and the bounded hyperbolic tangent functions to promise the bounded of the control law. Moreover, the complete stability and performance analysis were presented using Lyapunov theory. Simulation results show the effectiveness of the designed controller for the trajectory tracking in the present of actuators saturation.