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In this paper, an adaptive tracking control scheme is proposed for robotic manipulators with unknown input saturation. To overcome the design difficulty from non-differential saturation nonlinearity, a smooth nonlinear function of the control input signal is first introduced to approximate the saturation function, which can be further transformed into an affine form according to the mean-value theorem...
This paper proposes a neural sliding mode control scheme for a turntable servo system with an unknown nonlinear dead-zone input. Based on the differential mean value theorem, the nonlinear dead-zone is represented as a simple time-varying system and the dead-zone inverse compensaiton approach is avoided. All the unkown nonliearities of the servo system are approximated by using a simple sigmoid neural...
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