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Trajectory tracking of robot manipulators using adaptive fuzzy neural control

Gao, Y, Er, MJ, Mastorakis, N, Leithead, WE and Leith, DJ (2000) Trajectory tracking of robot manipulators using adaptive fuzzy neural control System and Control: Theory and Applications. pp. 71-78.

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Abstract

This paper presents a new control scheme utilizing fuzzy neural networks for trajectory control of robot manipulators. The adaptive capability of the fuzzy neural controller ensures that high performance can be achieved and maintained under time-varying conditions. This intelligent control scheme consists of two portions. In the first portion, the fuzzy neural networks with dynamic structure, in short DFNNs, are constructed to estimate dynamics of the robot model. The second portion is the fuzzy neural controller, which is built based on model learning and on-line weight adjustment. Computer simulations of a two-link robot manipulator demonstrate the effectiveness and efficiency of the proposed scheme.

Item Type: Article
Authors :
NameEmailORCID
Gao, Yyang.gao@surrey.ac.ukUNSPECIFIED
Er, MJUNSPECIFIEDUNSPECIFIED
Mastorakis, NUNSPECIFIEDUNSPECIFIED
Leithead, WEUNSPECIFIEDUNSPECIFIED
Leith, DJUNSPECIFIEDUNSPECIFIED
Date : 1 December 2000
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 11:37
Last Modified : 17 May 2017 14:57
URI: http://epubs.surrey.ac.uk/id/eprint/832065

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