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Nonlinear dynamic model of a high-altitude unmanned airship, expressed by generalized coordinate system, was built. A nonlinear compensation was introduced into the control loop to linearize and decouple the nonlinear system globally. In view of the imprecisely unknown inertia parameters of the airship, an adaptive law was proposed based on the feedback linearization to realize autonomous tracking...
This paper addresses the trajectory tracking control problem of a nonholonomic wheeled mobile robot in presence of modeling uncertainties. A trajectory tracking controller is proposed by combination of an adaptive feedback linearizing controller and an adaptive robust PID control law. A SPR-Lypunov stability analysis demonstrates that tracking errors and parameters estimation errors are globally uniformly...
In this paper, a neural-network based robust adaptive controller is proposed to control an industrial robot considering non- linearities, uncertainties and external perturbations. Three-axis SCARA robots is used to test the performance of this controller. The nonlinear system is treated as a partially known system. The known dynamic is used to design a nominal feedback controller based on the well-known...
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