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A robust control method based on equivalent control of Variable Structure Control (VSC) with feedforward compensator for robotic manipulators subject to load uncertainties is presented. The feedforward compensator is used to improve tracking precision, and the feed-sequence compensator with the Proportional Integral (PI) regulator to the sliding-mode function is used for improving the dynamical performance...
In this paper a discrete closed-loop D-type iterative learning control (ILC) scheme for the electrohydraulic position servo systems with parameter uncertainties is presented. The conditions which guarantee the convergence of the algorithm are given and the convergence is proved. The simulation results demonstrate the effectiveness of the presented D-type ILC algorithm for the discretization electrohydraulic...
A B-spline neural-network-based variable structure controller (VSC) for a class of nonlinear systems with parameter uncertainties is presented. The neural networks compensator is used to compensate the uncertainties in the systems. The tracking performance and stability is guaranteed by the VSC controller. The asymptotical stability of overall systems is verified by the Lyapunov stability criterion...
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