Zhuping Wang

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In this paper, adaptive state feedback and output feedback control strategies are presented for a class of nonholonomic systems in chained form with drift nonlinearity and parametric uncertainties. Both control laws are developed using state scaling and backstepping techniques. In particular, novel adaptive switching is proposed to overcome the(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, 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)
In this paper, model-free controllers for multilink smart materials robots are presented. The approach allows controller design in the absence of a system model which is complex and difficult to obtain for multilink smart materials robots, and provides additional degrees of freedom in feedback control design. Simulation results are provided to show the(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)
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)