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

Volume

48

Issue

6

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

1274

Lastpage

1278

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;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.969410

Filename

969410