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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
頁面1255-1260
頁數6
DOIs
出版狀態已發佈 - 2010 十二月 1
事件2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 - Istanbul, 土耳其
持續時間: 2010 十月 102010 十月 13

出版系列

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

其他

其他2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
國家/地區土耳其
城市Istanbul
期間2010/10/102010/10/13

ASJC Scopus subject areas

  • 電氣與電子工程
  • 控制與系統工程
  • 人機介面

指紋

深入研究「Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws」主題。共同形成了獨特的指紋。

引用此