By Topic

A novel fuzzy-neural identification and control for uncertain robotic systems with time delays

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Wen-Shyong Yu ; Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan

In this paper, a fuzzy-neural identification and control for uncertain robotic systems with time delays is proposed for H tracking performance and to suppress the effects caused by multiple time-delayed state uncertainties, unmodeled dynamics, and disturbances. Each delayed uncertainty is assumed to be bounded by an unknown gain. A reference model with the desired amplitude and phase properties is given to construct an error model. A fuzzy-neural (FN) system is used to approximate an unknown controlled system from the strategic manipulation of the model following tracking errors. The proposed AFNC scheme uses two online estimations, which allows for the inclusion of identifying the gains of the delayed state uncertainties and training the weights of the FN system simultaneously. Stability and robustness of the AFNC scheme is analyzed in Lyapunov sense. It is shown that the proposed control scheme can guarantee parameter estimation convergence and stability robustness of the closed-loop system with H tracking performance for the overall system without a priori knowledge on the upper bounds of the delayed state uncertainties.

Published in:

Systems, Man and Cybernetics, 2003. IEEE International Conference on  (Volume:5 )

Date of Conference:

5-8 Oct. 2003