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Title: Adaptive neural-fuzzy control of uncertain nonholonomic systems
Authors: Wang, Z.P. 
Ge, S.S. 
Lee, T.H. 
Keywords: Adaptive control
Constrained systems
Issue Date: 2005
Citation: Wang, Z.P.,Ge, S.S.,Lee, T.H. (2005). Adaptive neural-fuzzy control of uncertain nonholonomic systems. IFAC Proceedings Volumes (IFAC-PapersOnline) 16 : 91-96. ScholarBank@NUS Repository.
Abstract: An adaptive neural-fuzzy controller is presented in this paper for mechanical systems with nonholonomic constraints in the presence of uncertainties about plant parameters. The controller is designed based on a reduced model. The neural-fuzzy (NF) controller is constructed in order to eliminate the need for dynamic modeling and error prone process in obtaining the regressor matrix. The proposed controller guarantees that the system motion asymptotically con- verges to the desired manifold. Numerical simulation are conducted to verify the effectiveness of the proposed method. Copyright © 2005 IFAC.
Source Title: IFAC Proceedings Volumes (IFAC-PapersOnline)
ISBN: 008045108X
ISSN: 14746670
Appears in Collections:Staff Publications

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