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This paper deals with intelligent controller design using artificial neural networks (ANN) in the role of feedback controllers. Neural controllers are built up and trained as inverse neural process models. Their performance and robustness are, gradually, improved and augmented by introducing, first, an adaptive simple integrator and, then, a controller with fuzzy integrator part. The proposed ANN...
The problem of robust trajectory tracking control, with a guaranteed Hinfin performance, for constrained manipulator systems subject to uncertainties and external disturbances is solved in this paper. A control strategy is developed based on the robot mathematical model and an adaptive fuzzy approach. The adaptive fuzzy control law is based on Takagi-Sugeno model, which is proposed to estimate the...
In this paper, a fuzzy adaptive control system is investigated for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with both unknown backlash hysteresis and unknown sign of the control gain matrix. To deal with the unknown sign of the control gain matrix, the Nussbaum-type function is used. In the designing of the fuzzy adaptive control scheme, we will exploit a decomposition...
This paper presents a new approach for on-line identification of an exact affine model for single-input, single- output (SISO) processes with nonlinear and time-varying behaviors. For this purpose, a modified growing and pruning algorithm for radial basis function (MGAP-RBF) neural network is used for affine modeling of the SISO nonlinear and time-varying processes. The extended Kalman filter (EKF)...
An adaptive (time-varying) MIMO/SISO control strategy - funnel-control - for position control of nonlinear, coupled (rigid) robotic systems is presented and its applicability in robotics introductory shown. The concept is based on the high-gain controllability of minimum-phase systems with relative degree one and known high-frequency gain. The approach allows prescribed transient behavior without...
We consider the adaptive control problem for a class of SISO unknown nonlinear systems in the presence of additive input disturbances, with guaranteed prescribed performance. By prescribed performance we mean that the tracking error should converge to an arbitrarily predefined small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently...
This paper recapitulates the adaptive (time- varying) control strategy funnel-control (FC) and introduces its direct derivative error reference control (ERC) with specially designed Funnel boundaries and auxiliary reference. Both controller designs are comparatively applied to a nonlinear two-mass flexible servo system for speed control. ERC (as derivative of FC) is based on the high-gain controllability...
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