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Adaptive fuzzy neural control of multiple-link robot manipulators

Gao, Y and Er, MJ (2001) Adaptive fuzzy neural control of multiple-link robot manipulators International Journal of Robotics and Automation, 16 (4). pp. 172-182.

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This article presents the design, development, and implementation of a new adaptive fuzzy neural controller (AFNC) suitable for real-time industrial applications. The developed AFNC consists of a combination of a fuzzy neural network (FNN) controller and a supervisory PD controller. The salient features of the AFNC are: (1) dynamic fuzzy neural structure, that is, fuzzy control rules can be generated or deleted automatically; (2) fast on-line learning ability; (3) fast convergence of tracking error; (4) adaptive control; and (5) robust control, where global stability of the system is established using Lyapunov approach. Experimental evaluation conducted on a SEIKO TT-3000 SCARA robot demonstrates that excellent tracking performance can be achieved under time-varying conditions. The proposed controller also outperforms some of the existing adaptive fuzzy and neural controllers in terms of tracking speed and accuracy.

Item Type: Article
Divisions : Surrey research (other units)
Authors :
Er, MJ
Date : 1 December 2001
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 11:36
Last Modified : 24 Jan 2020 21:03

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