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Human-like musculor-skeletal arm model with its unique smooth and natural movements as well as low energy cost has attracted many researchers' interests and developed rapidly nowadays. In this paper, we focus on a human-like musculor-skeletal arm model with three links driven by nine muscles and propose a control model with two neurocontrollers trained by the NEAT algorithm. The NEAT (Neuroevolution...
In order to implement effective control for a class of non-affine nonlinear dynamic systems, which are implicit function with respect to control input, with strong nonlinearity and uncertainty, the algorithm is established based on some mathematics theories, and the Hinfin optimal control techniques is also adopted. All of the approximation errors are weakened by a robustifying control term. Our result...
For a class of large-scale mechanical nonlinear systems, such as inverted pendulum, intervehicle spacing regulation in a platoon of automated highway systems and single-link robots with flexible joints, in this paper, we design a neural network (NN-based) decentralized adaptive control scheme to implement control them effectively. As a direct adaptive controller, neural network is used to approximate...
This paper presents a novel neural network (NN-based) adaptive control method for a general class of non-affine nonlinear systems, which are implicit function with respect to control input. The control algorithm is established based on implicit function theorem, inverse function theorem and the design idea of pseudo-control. Without the assumption of disturbance term being known bounded, it is estimated...
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