Intelligent tracking control for robot manipulator including actuator dynamics via TSK-type fuzzy neural network.

In this paper, a Takagi-Sugeno-Kang-type fuzzy-neural-network control (T-FNNC) scheme is constructed for an n-link robot manipulator to achieve high-precision position tracking. According to the concepts of mechanical geometry and motion dynamics, the dynamic model of an n-link robot manipulator inc...

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Τόπος έκδοσης:	IEEE Transactions on fuzzy systems 12, 4 (2004).
Κύριος συγγραφέας:	Rong-Jong Wai
Μορφή:	Άρθρο
Γλώσσα:	English
Θέματα:	Lyapunov stability theorem. Takagi-Sugeno-Kang type fuzzy control. Actuator dynamics. Adaptive tuning algorithm. Dc servomotor. Fuzzy neural network control. Intelligent tracking control. Mechanical geometry. Motion dynamics. Position tracking. Robot manipulator.