Title :
Fuzzy neural adaptive controller design: with application to multiple-link robot control
Author :
Hsu, Ya-Chen ; Chen, Guanrong ; Malki, Heider A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA
Abstract :
An adaptive control algorithm based on the sliding mode principle, equipped with fuzzy logic to handle system modeling uncertainties, is developed in this paper. Along with a neural-network learning scheme that enhances the adaptive control capability, this controller performs satisfactory tracking control for a large class of robot models that contain significant but unknown friction and disturbances. Both mathematical analysis and computer simulation are enclosed for demonstration
Keywords :
adaptive control; closed loop systems; control system synthesis; fuzzy control; learning (artificial intelligence); manipulator dynamics; neurocontrollers; position control; robust control; uncertain systems; variable structure systems; fuzzy logic; fuzzy neural adaptive controller; modeling uncertainties; multiple-link robot control; sliding mode principle; tracking control; unknown disturbances; unknown friction; Adaptive control; Friction; Fuzzy control; Fuzzy logic; Mathematical analysis; Modeling; Programmable control; Robots; Sliding mode control; Uncertainty;
Conference_Titel :
Neural Networks,1997., International Conference on
Conference_Location :
Houston, TX
Print_ISBN :
0-7803-4122-8
DOI :
10.1109/ICNN.1997.614152
