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In this paper, we construct a novel control using LS-SVM matrix operator to achieve the stablization of wheeled under-actuated manipulators. Further, the relative degree of the regulated output is assumed to be known enabling the system is feedback linearizable. By Lyapunov's direct method, it is shown that the tracking error can be controlled in a small neighborhood of zero. The methodology is applicable...
The balance and motion control based on LS-SVM (least squares support vector machine) are considered for mobile wheeled inverted pendulums (WIP), in the presence of parametric and functional dynamics uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms use the advantage of LS-SVM combined with on-line parameters estimation strategy in order to have an efficient approximation...
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