On-line adaptive T-S fuzzy-neural control for a class of general multi-link robot manipulators

Wei Yen Wang*, Yi Hsing Chien, Yih Guang Leu, Tsu Tian Lee

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

16 引文 斯高帕斯(Scopus)

摘要

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 previous methods, this paper has two unique aspects: first, a more general n-link robot system using on-line adaptive T-S fuzzy-neural controller is investigated, and second, the complete proof of the controller is given. The general robot systems are linearized via the mean value theorem, and then the T-S fuzzy-neural model can approximate the linearized system. Also, we propose an on-line 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 the feasibility and robustness of the proposed method.

原文英語
頁(從 - 到)240-249
頁數10
期刊International Journal of Fuzzy Systems
10
發行號4
出版狀態已發佈 - 2008 十二月

ASJC Scopus subject areas

  • 理論電腦科學
  • 軟體
  • 計算機理論與數學
  • 人工智慧

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