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Aiming at the time-varying bounded uncertainty in the mechanical system and the problem of excessive control gain caused by the "worst case", a robust control with tunable parameters that can be used to compensate for the uncertainty is proposed. The proposed control can guarantee that the system has uniform boundedness and uniform ultimate boundedness. Besides, the fuzzy set theory is used to describe the uncertainty to avoid introducing any IF-THEN fuzzy logic rules or probability theory. Based on the non-cooperative game theory, the pa
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