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This paper presents a decoupled sliding mode controller with fuzzy logic adaptive tuner for a class of under actuated systems with mismatched uncertainties. By using the concept of hierarchical decoupling method, the coupled nonlinear system can be decoupled into several subsystems. Each subsystem has a separate control target expressed in terms of a sliding surface. From sliding surface of subsystems,...
An adaptive control for robot manipulators based on multiple incremental fuzzy neural networks (FNNs) is proposed in this paper. The overall controller is comprised of a feedback controller and multiple FNNs which learn inverse dynamics of the robot manipulator for different tasks. The multiple FNNs are switched or blended to improve the transient response when manipulating objects are changed. The...
A new result of global synchronization for more general delay complex dynamical networks with time-varying delay is obtained in this paper. In this paper, based on an appropriate Lyapunov function, the sufficient condition for the global synchronization is given here by using the linear matrix inequality and introducing a reference state, and this condition is simply given based on the maximum nonzero...
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