Problems of trajectory tracking for a class of freefloating robot manipulators with uncertainties are considered. Two neural network controls are designed. The first scheme consists of a PD feedback and a dynamic compensator which is an RBF neural network controller. The second scheme syncretizes neural networks with variable structures using a saturation function. Neutral networks are used to adaptively learn about and compensate for the unknown system. Approach errors are eliminated as disturbances by using the variable structure controller. The shortcomings of local networks are considered. The control is based on dividing aspects into three sections with classification and integration: state dimensional, neural network and variable structure separate control. When invalidations of the neutral network appeared, the controller was able to guarantee good robustness as well as the stability of the closed-loop system. The simulation results show that the methods presented are effective.

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Abstract-Big Data contains the law of social development and criminal governance, and how to prevent and control corruption crimes to adapt to the tide of big data is the key to carry out the management of the number of times in crime prevention and control. In this regard, China should pay attention to the issue of "big data crimes" from the grasp of the concept and characteristics of big data and corruption prevention and control of corruption. This paper starts a big data interpretation of corruption through the investigation of corruption prevention and control of China under the threshold of data theory and practice, analyzes the challenge of big data against the existing corruption prevention and control system in China, and then studies the implementation of data-driven implementation of the fine prevention and control of corruption crimes. This paper puts forward the precise prevention and control category of crimes, and further opens up the road to evolution. As a tactical extension of the daily management strategy, corruption prevention and control is put forward to solve the "shortcomings" of corruption crime governance under the organic integration of "manpower + science and technology" and "traditional + modern" governance technology, crimes, corruption crimes, and prevention of corruption crime application performance.