Neuro-fuzzy dynamic-inversion-based adaptive control for robotic manipulators - discrete time case

IEEE Transactions on Industrial Electronics

Volumn 54, Issue 3, 2007, Pages 1342-1351

  Sun, Fuchun ^a   Li, Li ^a   Li, Han Xiong ^b   Liu, Huaping ^a  

^a TSINGHUA UNIVERSITY   (China)

^b CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Adaptive control; Dynamic inversion; Neuro fuzzy (NF) systems; NF variable structure; Robotic manipulators

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE LEARNING; CONTROL APPROACH; CONTROL STAGE; CONTROLLED SYSTEM; DISCRETE-TIME; DISCRETE-TIME ADAPTIVE TRACKING CONTROLLER; DISCRETE-TIME CASE; DYNAMIC PERFORMANCE; HIGH QUALITY; NEURO-FUZZY; ROBOT CONTROL SYSTEMS; ROBOT INVERSE DYNAMICS; ROBOTIC MANIPULATORS; STABILITY THEORIES; SYSTEM DYNAMIC PERFORMANCE; T-S FUZZY MODELS; TRACKING ERRORS; TRACKING PERFORMANCE; VARIABLE STRUCTURES;

CONTROL SYSTEM STABILITY; CONVERGENCE OF NUMERICAL METHODS; DISCRETE TIME CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; LEARNING ALGORITHMS; ROBOTICS; ROBOTS; SPATIAL VARIABLES CONTROL; SYSTEM STABILITY; VARIABLE STRUCTURE CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 37548999302     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2007.893056     Document Type: Article

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