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This paper presents a neural-adaptive sliding mode control for the tracking control of 4-SPS(PS) type parallel manipulator. The neural-adaptive controller is introduced to modify the coefficients of sliding manifold in sliding control strategy, which solve the problem that the equivalent control can not be obtained accurately because of the uncertain and fixed coefficients of sliding manifold and...
An adaptive critic neural network-based tracking autopilot design for autonomous underwater vehicles (AUV) was proposed in this paper. The adaptive critic learning scheme consists of an associative search network (ASN), which is implemented by the three-layer neural network to approximate nonlinear and complex functions of autonomous underwater vehicles, and an adaptive critic network (ACN) generating...
In this paper, a fixed-structure iterative learning control (ILC) control design is presented for the tracking control of the output probability density functions (PDF) in general stochastic systems with non-Gaussian variables. The approximation of the output PDF is firstly realized using a radial basis function neural network (RBFNN). Then the control horizon is divided to certain intervals called...
Design of tracking controller is difficult due to the particularity of the work environment for the underwater dexterous hand, high nonlinearity and strong coupling of the dynamic model. A fuzzy CMAC was adopted to establish the tracking control system for improving the fine performance capacity. The neural network structure of the fuzzy CMAC was designed, and the input and output formula of each...
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