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Nonlinear adaptive velocity control on elastic multi-link manipulators
(Northern Illinois University, 1995)
In this thesis a new approach of nonlinear adaptive control is applied to structurally elastic multi-link manipulators. The research begins with the general dynamics of structurally elastic manipulators. Then a modified ...
Design and implementation of a novel neural fuzzy control system for a multi-link robotic manipulator
(Northern Illinois University, 1999)
This thesis provides an original design idea for a novel control system structure as well as the control algorithm, which combines a neural network with fuzzy logic, and succeeds in dynamical compensation for variant ...