Ten lectures on wavelets
Tools for Semiglobal Stabilization by Partial State and Output Feedback
SIAM Journal on Control and Optimization
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robust adaptive optimal tracking design for uncertain missile systems: a fuzzy approach
Fuzzy Sets and Systems
Development of scheduling strategies with Genetic Fuzzy systems
Applied Soft Computing
Wavelet differential neural network observer
IEEE Transactions on Neural Networks
Stability analysis and robustness design of nonlinear systems: An NN-based approach
Applied Soft Computing
GA-based decoupled adaptive FSMC for nonlinear systems by a singular perturbation scheme
Neural Computing and Applications
Modeling, control, and stability analysis for time-delay TLP systems using the fuzzy Lyapunov method
Neural Computing and Applications
Macro-continuous computed torque algorithm for a three-dimensional eel-like robot
IEEE Transactions on Robotics
Adaptive control for mobile robot using wavelet networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Output feedback robust H∞ control of uncertain fuzzy dynamic systems with time-varying delay
IEEE Transactions on Fuzzy Systems
Incremental Evolutionary Design of TSK Fuzzy Controllers
IEEE Transactions on Fuzzy Systems
Using wavelet network in nonparametric estimation
IEEE Transactions on Neural Networks
Output feedback control of nonlinear systems using RBF neural networks
IEEE Transactions on Neural Networks
Adaptive observer backstepping control using neural networks
IEEE Transactions on Neural Networks
The Stone-Weierstrass theorem and its application to neural networks
IEEE Transactions on Neural Networks
Neural-network hybrid control for antilock braking systems
IEEE Transactions on Neural Networks
Adaptive wavelet neural network control with hysteresis estimation for piezo-positioning mechanism
IEEE Transactions on Neural Networks
A meta-cognitive sequential learning algorithm for neuro-fuzzy inference system
Applied Soft Computing
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Robotic systems have inherently nonlinear phenomena as joints undergo sliding and/or rotating. This in turn requires that the system running states be predicted correctly. This paper makes a full analysis of the robot states by applying observer-based adaptive wavelet neural network (OBAWNN) tracking control scheme to tackle these phenomena such as system uncertainties, multiple time-delayed state uncertainties, and external disturbances such that the closed loop system signals must obey uniform ultimate boundedness and achieve H^~ tracking performance. The recurrent adaptive wavelet neural network model is used to approximate the dynamics of the robotic system, while an observer-based adaptive control scheme is to stabilize the system. The advantage of employing adaptive wavelet neural dynamics is that we can utilize the neuron information by activation functions to on-line tune the hidden-to-output weights, and the adaptation parameters to estimate the robot parameters and the bounds of the gains of delay states directly using linear analytical results. It is shown that the stability of the closed-loop system is guaranteed by some sufficient conditions derived from Lyapunov criterion and Riccati-inequality. Finally, a numerical example of a three-links rolling cart is given to illustrate the effectiveness of the proposed control scheme.