On-line adaptive control of robot manipulators using dynamic fuzzy neural networks
Gao, Yang and Er, M.J. and Leithead, W.E. and Leith, D.J. (2001) On-line adaptive control of robot manipulators using dynamic fuzzy neural networks. In: American Control Conference, 2001-06-25 - 2001-06-27.
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This paper presents a robust Adaptive Fuzzy Neural Controller (AFNC) suitable for motion control of a multilink robot manipulator. The proposed controller has the following salient features: (1) dynamic fuzzy neural networks structure, i.e. fuzzy control rules can be generated or deleted automatically, (2) adaptive learning, (3) online learning of the robot dynamics, (4) fast learning speed, and (5) fast convergence of tracking error. Global stability of the system is established using Lyapunov approach. Computer simulation studies of a two-link robot manipulator demonstrate that excellent tracking performance can be achieved under external disturbances
| Author(s): | Gao, Yang, Er, M.J., Leithead, W.E. and Leith, D.J. | Item type: | Conference or Workshop Item(Paper) |
|---|---|
| ID code: | 37525 |
| Keywords: | on-line , adaptive control, robot manipulators, dynamic , fuzzy neural networks, Electrical engineering. Electronics Nuclear engineering |
| Subjects: | Technology > Electrical engineering. Electronics Nuclear engineering |
| Department: | Faculty of Engineering > Electronic and Electrical Engineering |
| Depositing user: | Pure Administrator |
| Date deposited: | 09 Feb 2012 14:40 |
| Last modified: | 08 Jan 2020 19:18 |
| URI: | https://strathprints.strath.ac.uk/id/eprint/37525 |
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