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A novel adaptive controller based on sliding mode control with Fourier series approximation approach is presented. To eliminate the impact of time variant characteristics of dead zone, a control law is proposed with an undetermined uncertainty item and an undetermined compensation item through sliding control method, which are then approximated with Fourier series. Lyapunov method is used to guarantee...
A novel robust Hinfin intelligent control (RHIC) 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. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee Hinfin tracking performance of robotic system, in the sense that all variables of the...
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,...
The inverse kinematic control based on mutual mapping neural network of free-floating dual-arm space robot system without the basepsilas control is discussed. With the geometrical relation and the linear, angular momentum conservation of the system, the generalized Jacobian matrix is obtained. Based on the above result, a mutual mapping neural network control scheme employing Lyapunov functions is...
An extended proportional navigation guidance (EPNG) law based on Lyapunov stability is proposed applying the concept of virtual target and 3-dimensional pursuit-evasion model. This guidance law can satisfy the requirements of miss distance and terminal angle, thus it guarantees that different parts of the large-airspace varying trajectory link smoothly. Guided by this guidance law an anti-warship...
This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. The control system is established with two parallel subsystems designed separately. One is a linear controller based on state feedback with...
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