T-S fuzzy-neural control for robot manipulators

Wei-Yen Wang, Yi Hsing Chien, Yih-Guang Leu, Zheng Hao Lee, Tsu Tian Lee

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

3 Citations (Scopus)

Abstract

This paper proposes a novel method of on-line modeling and control through the Takagi-Sugeno (T-S) fuzzy-neural model for a class of general n-link robot manipulators. Compared with the previous method, the main contribution of this paper is an investigation of the more general robot systems using on-line adaptive T-S fuzzy-neural controller. Specifically, the general robot systems are exactly formed a linearized system via the mean value theorem, and then the T-S fuzzy-neural model can approximate the linearized system. Also, we propose an online identification algorithm and put significant emphasis on robust tracking controller design using an adaptive scheme for the robot systems. Finally, an example including two cases is provided to demonstrate feasibility and robustness of the proposed method.

Original languageEnglish
Title of host publicationIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs
Publication statusPublished - 2008 Dec 1
EventIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan
Duration: 2008 Aug 232008 Aug 25

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Other

OtherIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
CountryTaiwan
CityTaipei
Period08/8/2308/8/25

Fingerprint

Manipulators
Robots
Controllers
Online systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

Cite this

Wang, W-Y., Chien, Y. H., Leu, Y-G., Lee, Z. H., & Lee, T. T. (2008). T-S fuzzy-neural control for robot manipulators. In IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 [4653613] (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2008.4653613

T-S fuzzy-neural control for robot manipulators. / Wang, Wei-Yen; Chien, Yi Hsing; Leu, Yih-Guang; Lee, Zheng Hao; Lee, Tsu Tian.

IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008. 2008. 4653613 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

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

Wang, W-Y, Chien, YH, Leu, Y-G, Lee, ZH & Lee, TT 2008, T-S fuzzy-neural control for robot manipulators. in IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008., 4653613, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008, Taipei, Taiwan, 08/8/23. https://doi.org/10.1109/ARSO.2008.4653613
Wang W-Y, Chien YH, Leu Y-G, Lee ZH, Lee TT. T-S fuzzy-neural control for robot manipulators. In IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008. 2008. 4653613. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). https://doi.org/10.1109/ARSO.2008.4653613
Wang, Wei-Yen ; Chien, Yi Hsing ; Leu, Yih-Guang ; Lee, Zheng Hao ; Lee, Tsu Tian. / T-S fuzzy-neural control for robot manipulators. IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008. 2008. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).
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