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In this paper the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a complex dynamical network is obtained. To illustrate the analytic results we present a tracking simulation of a dynamical network with each node being a Chen's dynamical...
The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains parametric and nonparametrics uncertainties. The proposed neural controller (PNC) is constituted of the KNC and the TNC, and were designed by use of a modeling technique...
This paper presents a new approach to the design of a fuzzy logic control scheme for a general class of nonlinear systems. For practical consideration, we firstly define two generalized errors as inputs to form a novel two-input single-output fuzzy PD controller. Then, a supervisor is incorporated into the control scheme to help achieve its closed-loop stability. The supervisor is derived based on...
A robust neural network (NN) composite saturation compensation scheme is presented for a trajectory tracking and a vibration suppression of a flexible link robot arm. The scheme is based on a singular-perturbation technique and can accommodate an unknown disturbance and the saturation constraints. The saturation compensator is composed of a robust fast sub-compensator for stabilization of the fast,...
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