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In this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed(More)
In this paper, robust adaptive neural network (NN) control is presented to solve the control problem of nonholonomic systems in chained form with unknown virtual control coefficients and strong drift nonlinearities. The robust adaptive NN control laws are developed using state scaling and backstepping. Uniform ultimate boundedness of all the signals in the(More)
Fig. 31. Control voltage of the sliding-mode controller without an integrator. VIII. CONCLUSIONS This paper has presented a method to control the angular displacement of a magnetically suspended balance beam with plant parametric variations and external disturbances. To overcome the effect of the parametric variations, and to reject the external disturbance(More)
In this paper, adaptive neuro-fuzzy identification is investigated for the Hammerstein model, which consists of the cascade structure of a static nonlinearity followed by a linear dynamic part. Utilizing the approximation ability of neuro-fuzzy for the nonlinear static function, there is no need for prior knowledge and restriction on static nonlinear(More)
The purpose of the present study is to investigate the prevalence of Th17 and regulatory T (Treg) cells in children with allergic rhinitis (AR) accompanying with bronchial asthma (BA). 24 children with AR, 22 children with BA, 18 children with AR accompanying with BA, and 20 healthy controls were recruited. The prevalence of peripheral blood Th17 and Treg(More)
This paper aims to present an adaptive control law for trajectory tracking control of wheeled mobile robots (WMR) with unknown skidding at kinematic level. A new modified kinematic model induced from perturbed nonholonomic constraints is constructed, and an adaptive controller used to estimate the skidding ratio is designed. Without limitation to the(More)
In this paper, adaptive neural network (NN) control strategy is presented to solve the control problem of nonholonomic systems in a chained form with unknown virtual control coefficients and strong drift nonlinearities. The adaptive NN control laws are developed using state scaling and backstepping. The proposed control is free of control singularity(More)