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A ball-bot is an extremely agile mobile robotic platform due to its inherent instability. In order to maneuver at high speeds, a specialized controller is needed. A ball-bot can be modelled as two decoupled, 2-DOF pendulum on a cart systems. These systems comprise a classical and frequently encountered problem in the area of control theory. This paper proposed a novel technique for adaptive control...
An algorithm for adaptive feedforward cancellation (AFC) of high frequency measurable disturbances for a class of nonlinear dynamical systems is developed. A rectangular local linear model (RLLM) network is used to model nonlinear dynamical behaviour of the system and to predict the effect of the disturbances. Another network of the same kind containing local linear compensation units is used as a...
In this paper, an adaptive control of a parallel robot is proposed for trajectory tracking problems. This approach is based on adaptive multi-layer perceptron (MLP) neural network and sliding mode technique. The aim of this study is to design a robust controller with respect to external disturbances in order to improve the trajectory tracking. In fact, an adaptive MLP neural network is developed to...
In this paper, a neural adaptive force control of a parallel robot is proposed to solve the trajectory tracking problems. Assuming that the dynamic model of the system is a black box one, we use an a priori learning for its neural identification. And then, we use this results to design and adaptive control law. All adaptation laws of neural parameters are based on the stability of the closed loop...
The challenging task of designing an auto pilot for non linear time varying flexible flight vehicle system under conflicting design requirements requires a gain scheduled controller throughout the flight. But still the final solution is bound to end up in some compromises with proper gain scheduling. The switching from one gain to another gain value creates disturbances in the flight and therefore...
In several robotics applications, the robot must interact with the workspace, and thus its motion is constrained by the task. In this case, pure position control will be ineffective since forces appearing during the contacts must also be controlled. However, simultaneous position and force control called hybrid control is then required. Moreover, the nonlinear plant dynamics, the complexity of the...
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