A stable adaptive control scheme for multi-point mooring system (MPMS) with uncertain dynamics is proposed in this paper. The designed by a hybrid controller based on RBF (Radial Basis Function) NN (Neural Network) and SMC (Sliding Mode Control), which learns the MPMS dynamic changes, compensation of external disturbances realized through RBFNN control. Meanwhile RBF-SMC parameters are adapted ...

In the past decade, remote actuation through magnetic fields has been used for position and orientation control of continuum manipulators (CMs) with a single magnet at distal tip. By leveraging multiple points along length CM it is possible to achieve increasingly complex shapes, which could be interest in navigation tasks, example, minimally invasive surgery. this study we present an approach ...