Adaptive Control of Nonlinear Systems

A multilayer neural-net (NN) controller for a general serial-link rigid robot arm is developed. The structure of the NN controller is derived using a filtered error/passivity approach. No off-line learning phase is needed for the proposed NN controller and the weights are easily initialized. The nonlinear nature of th…

• AYDIN YEŞİLDİREK

A neural net (NN) controller for a general serial-link robot arm is developed. The NN has two layers so that linearity in the parameters holds, but the "net functional reconstruction error" and robot disturbance input are taken as nonzero. The structure of the NN controller is derived using a filtered error/passivity…

• AYDIN YEŞİLDİREK

Özet henüz yok.

• AYDIN YEŞİLDİREK

This paper surveys how some "intelligence" can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the well-known problems met in practical implementations of SMCs. The use of variable-structure system theory in design and stability analysis o…

Özet henüz yok.

Two broad approaches to the active control of large flexible systems are compared, namely, coupled control and independent modal-space control. The basic difference between the two approaches lies in the manner in which the feedback controls are designed. The two methods are compared qualitatively from design and comp…

Özet henüz yok.

• İLYAS EKER

Özet henüz yok.

• ÖMER ÇETİN

Özet henüz yok.

• SEFER KURNAZ

Özet henüz yok.

• İLYAS EKER

In this brief, a new variable structure proportional-integral-derivative (PID) controller design approach is considered for the tracking stabilization of robot motion. The work corroborates the utility of a certain PID sliding mode controller with PID sliding surface for tracking control of a robotic manipulator. Diff…

Özet henüz yok.