Mahmoodreza Soltani

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This paper presents controlling of a class of nonlinear systems with struc-tured and unstructured uncertainties using fuzzy sliding mode control. First known dynamics of the system are eliminated through feedback linearization and then fuzzy sliding mode controller is designed using TS method, based on the Lyapunov method, which is capable of handling(More)
This paper, according to practical method in robot manipulator control, introduces a novel robust control approach for trajectory tracking of electrically-driven robotic manipulators in task space. A new task space control scheme is proposed to overcome uncertainties of actuator dynamics, robot dynamics and kinematics. A robust controller is designed based(More)
In this paper, a novel updating law for Backpropagation learning algorithm based on optimal control theory is proposed. The original Backpropagation algorithm composed of learning rate factor (LR). The coefficient in LR is called step size and indicates the rate of algorithm convergence which is selected by trial and error. In original BP the step size is(More)
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