Title :
Adaptive control of robot manipulators using fuzzy neural networks
Author :
Gao, Yang ; Er, Meng Joo ; Yang, Song
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
fDate :
12/1/2001 12:00:00 AM
Abstract :
This paper presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure; (2) online learning of the robot dynamics; (3) fast convergence of tracking error; and (4) adaptive control. Computer simulation results of a two-link manipulator demonstrate that excellent tracking performance can be achieved under external disturbances
Keywords :
adaptive control; control system analysis computing; control system synthesis; fuzzy control; fuzzy neural nets; learning (artificial intelligence); manipulator dynamics; motion control; neurocontrollers; position control; adaptive fuzzy neural controller; computer simulation; control design; control simulation; external disturbances; fast tracking error convergence; fuzzy neural networks; multilink manipulators motion control; robot dynamics online learning; robot manipulators; self-organizing fuzzy neural structure; tracking performance; two-link manipulator; Adaptive control; Computer errors; Convergence; Error correction; Fuzzy control; Fuzzy neural networks; Manipulator dynamics; Motion control; Programmable control; Robots;
Journal_Title :
Industrial Electronics, IEEE Transactions on
