Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws

Yi Hsing Chien, Wei Yen Wang, Tsu Tian Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Pages1255-1260
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 - Istanbul, Turkey
Duration: 2010 Oct 102010 Oct 13

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Other

Other2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
CountryTurkey
CityIstanbul
Period10/10/1010/10/13

Keywords

  • Projection update law
  • Robot manipulator
  • T-S fuzzy-neural model

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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