Title :
Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws
Author :
Chien, Yi-Hsing ; Lee, Tsu-Tian ; Wang, Wei-Yen
Author_Institution :
Dept. of Electr. Eng., Nat. Taipei Univ. of Technol., Taipei, Taiwan
Abstract :
An on-line tracking controller design based on using T-S fuzzy-neural modeling for a class of general robot manipulators is investigated in this paper. Also, we use projection update laws to tune adjustable parameters for preventing parameters drift. In addition, stability of the closed-loop systems is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system asymptotically track the desired output trajectories. Finally, an example including two cases confirms the effectiveness of the proposed method.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; control system synthesis; fuzzy control; fuzzy neural nets; manipulators; neurocontrollers; stability; T-S fuzzy-neural modeling; adaptive T-S fuzzy-neural controller; closed-loop systems; on-line tracking controller design; projection update laws; robot manipulators; stability; strictly-positive-real Lyapunov theory; Artificial neural networks; Simulation; T-S fuzzy-neural model; projection update law; robot manipulator;
Conference_Titel :
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-6586-6
DOI :
10.1109/ICSMC.2010.5642419