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

doi:10.1109/ICSMC.2010.5642419

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

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Pages	1255-1260
Number of pages	6
DOIs	https://doi.org/10.1109/ICSMC.2010.5642419
Publication status	Published - 2010
Event	2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 - Istanbul, Turkey Duration: 2010 Oct 10 → 2010 Oct 13

Publication series

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

Other

Other	2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Country/Territory	Turkey
City	Istanbul
Period	2010/10/10 → 2010/10/13

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

Access to Document

10.1109/ICSMC.2010.5642419

Cite this

Chien, Y. H., Wang, W. Y., & Lee, T. T. (2010). Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws. In 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 (pp. 1255-1260). Article 5642419 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/ICSMC.2010.5642419

Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws. / Chien, Yi Hsing; Wang, Wei Yen; Lee, Tsu Tian.
2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010. 2010. p. 1255-1260 5642419 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chien, YH, Wang, WY & Lee, TT 2010, Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws. in 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010., 5642419, Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, pp. 1255-1260, 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010, Istanbul, Turkey, 2010/10/10. https://doi.org/10.1109/ICSMC.2010.5642419

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AB - 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.

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

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Keywords

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