Stable adaptive controller design of robotic manipulators via neuro-fuzzy dynamic inversion

Journal of Robotic Systems

Volumn 22, Issue 12, 2005, Pages 809-819

  Sun, Fu Chun ^a   Sun, Zeng Qi ^a   Li, Han Xiong ^b  

^a TSINGHUA UNIVERSITY   (China)

^b CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; CONTROL SYSTEM SYNTHESIS; FUZZY CONTROL; LEARNING ALGORITHMS; LYAPUNOV METHODS; MANIPULATORS; NEURAL NETWORKS;

ADAPTIVE CONTROLLER DESIGN; NEURO-FUZZY DYNAMIC INVERSION;

ROBOTICS;

EID: 33645115598     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.20102     Document Type: Article

References (19)

1. K. Tanaka and H.O. Wang, Fuzzy control systems design and analysis - a linear matrix inequality approach, John Wiley & Sons, New York, 2001.
2. C.M. Cheng and N.W. Rees, Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach, IEE Proc.: Control Theory Appl. 144 (1997), 403-412.
3. T. Takagi and M. Sugeno, Fuzzy identification of systems and its applications to modeling and control, IEEE Trans. Syst. Man Cybern. 15 (1985), 116-132.
4. S. Jagannathan, Adaptive fuzzy logic control of feedback linearizable discrete-time dynamical systems under persistence of excitation, Automatica 34 (1988), 1295-1310.
5. J.T. Spooner and K.M. Passino, Stable adaptive control using fuzzy systems and neural networks, IEEE Trans. Fuzzy Syst. 4 (1996), 339-359.
6. F.C. Sun, Z.Q. Sun, and G. Feng, An adaptive fuzzy controller based on sliding mode for robot manipulators, IEEE Trans. Syst. Man Cybern. 29 (1999), 661-667.
7. T. Taniguchi, K. Tanaka, and H.O. Wang, Fuzzy descriptor systems and nonlinear model following control, IEEE Trans. Fuzzy Syst. 8 (2000), 442-452.
8. H.P. Liu, F.C. Sun, K.Z. He, and Z.Q. Sun, Controller design and stability analysis for fuzzy singularly perturbed systems, Acta Automatica Sin. 29 (2002), 494-500.
9. S.J. Wu and C.T. Lin, Optimal fuzzy controller design: local concept, IEEE Trans. Fuzzy Syst. 8 (2000), 171-185.
10. S.J. Wu and C.T. Lin, Discrete-time optimal fuzzy controller design: global concept approach, IEEE Trans. Fuzzy Syst. 10 (2002), 21-38.
11. S.G. Cao, N.W. Rees, and G. Feng, H∞ control of uncertain fuzzy continuous-time systems, Fuzzy Sets Syst. 115 (2000), 171-190.
12. K. Tanaka, T. Hori, and H.O. Wang, A multiple Lyapunov function approach to stabilization of fuzzy control systems, IEEE Trans. Fuzzy Syst. 11 (2003), 582-589.
13. J.S. Wang and C.S. Lee, Self-adaptive recurrent neuro-fuzzy control of an autonomous underwater vehicle, IEEE Trans. Rob. Autom. 19 (2000), 283-295.
14. G. Feng, S.G. Cao, and N.W. Rees, Stable adaptive control of fuzzy dynamic systems, Fuzzy Sets Syst. 131 (2002), 217-224.
15. F.C. Sun, H.X. Li, and L. Li, Robot discrete adaptive control based on dynamic inversion using dynamical neural networks, Automatica 138 (2002), 1977-1983.
16. F.C. Sun et al., Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators, Fuzzy Sets Syst. 134 (2003), 117-133.
17. E. Kim, M. Park, S. Ji, and M. Park, A new approach to fuzzy modeling, IEEE Trans. Fuzzy syst. 5 (1997), 328-336.
18. F.C. Sun, Z.Q. Sun, and P.Y. Woo, Stable neural network-based adaptive control for sampled-data non-linear systems, IEEE Trans. Neural Netw. 9 (1998), 956-968.
19. F.C. Sun et al., Robot adaptive control based on dynamic inversion using dynamical neural networks, Mach. Intell. 1 (1999), 71-78.