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A novel robust Hinfin decentralized intelligent control (RHDIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller with new learning algorithm. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory...
The position tracking control of a missile electrohydraulic servo mechanism is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in load and parameters, a design method of adaptive fuzzy sliding mode control is presented. The adaptive fuzzy controller is introduced to approach the equivalent control of sliding mode control,...
A new stable sliding mode control method for a class of underactuated mechanical systems with saturation is proposed in this paper. Two state variables of the underactuated system are chosen to construct the first-layer sliding surface. Then, the first-layer sliding surface and one of the left state variables are used to construct the second-layer sliding surface. This process continues till the last...
Aiming at the uncertain nonlinear system with a dead zone input, a design method of adaptive neuro sliding mode control is presented to combine neural network theory with sliding mode control theory. RBF neural networks are used to realize modeling of nondeterministic system. Adaptive laws are derived based on Lyapunov stability theory which guarantees the stability of control system. Theoretical...
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