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

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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Pubblicato in:IEEE Transactions on fuzzy systems 12, 4 (2004).
Autore principale: Rong-Jong Wai
Natura: Articolo
Lingua:English
Soggetti:
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.