標題: On-line Adaptive T-S Fuzzy-Neural Control for A Class of General Multi-Link Robot Manipulators
作者: Wang, Wei-Yen
Chien, Yi-Hsing
Leu, Yih-Guang
Lee, Tsu-Tian
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: fuzzy-neural model;multi-link robot manipulators;robust adaptive control
公開日期: 1-十二月-2008
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.
URI: http://hdl.handle.net/11536/8109
ISSN: 1562-2479
期刊: INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
Volume: 10
Issue: 4
起始頁: 240
結束頁: 249
顯示於類別:期刊論文