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This paper investigates a fuzzy asymptotic control for MIMO systems with unknown identical control directions, input nonlinearities and external disturbances. Control difficulties from input nonlinearities and their control signs in MIMO systems are simultaneously tackled. Benefiting from this theorem, unmodelled bounded system dynamics and universal approximation errors are also handled without constructing...
In controlling nonlinear systems, compensation for the time-varying actuator failures/faults based on adaptive approach is of both theoretical and practical importance. However, so far, there is still very limited result available in addressing such a problem. In this paper, we address this issue by proposing a new fuzzy control scheme which is established from the techniques of projection adaptation...
This paper addresses the adaptive visual servoing control for robotic manipulator under uncalibrated eye-to-hand configuration with unknown actuator backlash. Most existing control approaches to visual servoing manipulator system ignore actuator backlash constraint, which is inevitable in mechanical robot and will significantly affect the dynamic performance. To alleviate the deleterious and undesirable...
This paper considers the fusion of hysteresis constraint with the image-based visual servoing(IBVS) manipulator system. Compared with the conventional IBVS system, we fully consider the unknown hysteresis nonlinearity which widely exists in the real mechanical systems. To eliminate the effect arisen by the actuator hysteresis constraint, we propose a novel adaptive algorithm to estimate the unknown...
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