Robust Adaptive Control

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Robust Adaptive Control in the Presence of Unmodeled Dynamics: A Counter to Rohrs's Counterexample

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Robust adaptive control of flexible link manipulators using multilayer perceptron

In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict-feedback nonlinear systems with non-parametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known nonlinear functions. The proposed method can also deal with uncertain nonlinearities that appear in the control input term.

Further it is shown that suitable choice of design parameters guarantees the convergence of tracking error to any desired bounds.

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Transactions of the Society of Instrument and Control Engineers. Edited By William S. Edition 2nd Edition.


First Published Imprint CRC Press. Pages pages.

Robust adaptive tracking control experiment at Ton Duc Thang University

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