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Adaptive control of robot manipulators using fuzzy neural networks

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3 Author(s)
Yang Gao ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore ; Meng Joo Er ; Song Yang

This paper presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure; (2) online learning of the robot dynamics; (3) fast convergence of tracking error; and (4) adaptive control. Computer simulation results of a two-link manipulator demonstrate that excellent tracking performance can be achieved under external disturbances

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Industrial Electronics, IEEE Transactions on  (Volume:48 ,  Issue: 6 )