Adaptive control of robot manipulators using fuzzy neural networks
Yang Gao
Meng Joo Er
Song Yang
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Dec 2001
Volume: 48,
Issue: 6
On page(s): 1274-1278
ISSN: 0278-0046
References Cited: 7
CODEN: ITIED6
INSPEC Accession Number: 7122738
Digital Object Identifier: 10.1109/41.969410
Current Version Published: 2002-08-07
Abstract
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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