TY - GEN
T1 - T-S fuzzy-neural control for robot manipulators
AU - Wang, Wei Yen
AU - Chien, Yi Hsing
AU - Leu, Yih Guang
AU - Lee, Zheng Hao
AU - Lee, Tsu Tian
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84869980950&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869980950&partnerID=8YFLogxK
U2 - 10.1109/ARSO.2008.4653613
DO - 10.1109/ARSO.2008.4653613
M3 - Conference contribution
AN - SCOPUS:84869980950
SN - 9781424426751
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
BT - IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
T2 - IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
Y2 - 23 August 2008 through 25 August 2008
ER -