A multilayer neural-net (NN) controller for a general serial-link rigid robot arm is developed.
The structure of the NN controller is derived using a filtered error/passivity approach. No off …

We consider a single-input-single-output nonlinear system which can be represented
globally by an input-output model. The system is input-output linearizable by feedback and …

From the Publisher: An in-depth examination of intelligent approaches to increasing the
accuracy of a variety of system components. Utilizing a unified, adaptive, inverse approach …

Stable direct and indirect adaptive controllers are presented, which use Takagi-Sugeno
fuzzy systems, conventional fuzzy systems, or a class of neural networks to provide …

A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory
tracking of robot manipulators in the presence of parametric uncertainties and uncertain …

In this chapter we introduce the subject of this book at an informal and intuitive level. The
main purpose is to give the reader some flavor of the different aspects of adaptive systems …

This paper considers the implementation of an adaptive algorithm for periodic disturbance
cancellation. It is shown that the maximum rate of adaptation can be calculated precisely …

In this paper, the authors utilize a nonlinear model of a planar rotor disk, active magnetic
bearing system to develop a nonlinear controller for a full-order electromechanical system …

Within this brief paper, a stable indirect adaptive controller is presented for a class of
interconnected nonlinear systems. The feedback and adaptation mechanisms for each …

Three new adaptive nonlinear output-feedback schemes are presented. The first scheme
employs the tuning functions design. The other two employ a novel estimation-based design …