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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/3800


    Title: An intelligent robust tracking control for electrically-driven robot systems
    Authors: CHANGYeong-Chan (張永昌)
    YENHUI-MIN
    WUMING-FANG
    Keywords: Robust tracking design
    Intelligent adaptive control
    Electrically-driven robots
    Date: 2009-02-27
    Issue Date: 2009-08-15 19:45:18 (UTC+8)
    Abstract: This article addresses the problem of designing intelligent robust tracking controls of robotsystems actuated by brushed direct current motors. The structures of both mechanical andelectrical dynamics are allowed to be completely unknown and adaptive fuzzy (or neuralnetwork) systems are employed to approximate these two uncertainties. Consequently, anadaptive fuzzy-based (or neural network-based) state feedback tracking controller isdeveloped such that the resulting closed-loop system guarantees that all the states and signalsare bounded and the tracking error can be made as small as possible. Finally, simulationexamples are made to demonstrate the effectiveness and tracking performance.
    Relation: International Journal of Systems Science Vol. 39, No. 5, May 2008, 497–511
    Appears in Collections:[電機工程系所] 期刊論文

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