TY - GEN
T1 - Design of adaptive T-S fuzzy-neural controller for a class of robot manipulators using projection update laws
AU - Chien, Yi Hsing
AU - Wang, Wei Yen
AU - Lee, Tsu Tian
PY - 2010
Y1 - 2010
N2 - 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.
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.
KW - Projection update law
KW - Robot manipulator
KW - T-S fuzzy-neural model
UR - http://www.scopus.com/inward/record.url?scp=78751535840&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751535840&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2010.5642419
DO - 10.1109/ICSMC.2010.5642419
M3 - Conference contribution
AN - SCOPUS:78751535840
SN - 9781424465880
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1255
EP - 1260
BT - 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
T2 - 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Y2 - 10 October 2010 through 13 October 2010
ER -