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In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system's synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability...
Based on cerebellar model articulation controller (CMAC), this paper attempts to propose a new chromosome representation scheme for representing real number parameters in genetic algorithms (GAs), which is termed CMAC-based GAs. The central idea of CMAC-based GAs is that each memory unit in a CMAC network is regarded as a real-valued gene in GAs. By this way, a chromosome is represented as those memory...
This paper proposes a radial basis function neural network adaptive backstepping controller (RBFNN_ABC) for multiple-input multiple-output (MIMO) nonlinear systems in block-triangular form. The control scheme incorporates the adaptive neural backstepping design technique with a first-order filter at each step of the backstepping design to avoid the higher-order derivative problem, which is generated...
This paper proposes a vision-based fuzzy 8051 surveillance system which emphasizes on designing the image processing function to detect the invaded states and the 8051 fuzzy servomotors controller to track the invader region. The techniques include discrete wavelet transformation (DWT) image data reducing, edge detection, motion detection, and fuzzy servomotor control. In this paper, image processing...
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