multilayer bach propagation neural networks have been considered by researchers. despite their outstanding success in managing contact between input and output, they have had several drawbacks. for example the time needed for the training of these neural networks is long, and some times not to be teachable. the reason for this long time of teaching is due to the selection unsuitable network par...

This paper proposes a high-precision intelligent adaptive backstepping control system (HPIABCS) for the position control of permanent-magnet synchronous motor (PMSM) servo drive. The HPIABCS incorporates an ideal backstepping controller, a dynamic recurrent-fuzzy-wavelet-neural-network (DRFWNN) uncertainty observer and a robust H∞ controller. First, a backstepping position controller is designe...

This paper presents a novel disturbance observer-based adaptive neural network control for hydraulic knee exoskeleton with valve deadband and output constraint. Adaptive networks are employed to approximate the unknown nonlinearities of actuator, i.e., unmodeled dynamics caused by leakage. A observer is designed integrated into controller compensate external equivalent interactive force acted o...

In this paper, a neural-network-based control scheme is developed for the tracking control problem of a class of switched strict-feedback nonlinear systems with uncertain input delay and external time-varying disturbances. First, the auxiliary signals are obtained by masterly constructing a filter and a virtual observer. Then the adaptive backstepping technique and neural network (NN) are emplo...

In this paper, an adaptive attitude control algorithm is developed based on neural network for a satellite using four reaction wheels in a tetrahedron configuration. Then, an attitude control based on feedback linearization control is designed and uncertainties in the moment of inertia matrix and disturbances torque have been considered. In order to eliminate the effect of these uncertainties, ...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables...

Abstract A novel neural adaptive integral terminal sliding mode control for decentralized fault-tolerant strategy, including the surface, nonlinear disturbance observer, radial basis network and robust controller, is presented in this paper to achieve of modular robot manipulators. First, designed controller. Then, boost performance controlled system, observer are introduced approximate terms d...