Direct adaptive fuzzy-neural-network control for robot manipulator by using only position measurements

Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010

Volumn , Issue , 2010, Pages 689-694

  Wai, Rong Jong ^a   Yang, Zhi Wei ^a   Shih, Chih Yi ^a  

^a YUAN ZE UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE FUZZY; ADAPTIVE TUNING; CONTROL OBJECTIVES; CONTROL SCHEMES; DC SERVOMOTORS; DIFFERENTIAL CONTROL; EXTERNAL DISTURBANCES; FNN CONTROLLERS; FRICTION FORCE; FUZZY NETWORKS; FUZZY-NEURAL; HIGH-PRECISION POSITION; LYAPUNOV STABILITY ANALYSIS; MODEL-BASED; MODEL-BASED CONTROL; MODEL-BASED DESIGN; MODEL-FREE CONTROL; NUMERICAL SIMULATION; PARAMETER VARIATION; POSITION INFORMATION; PRIOR SYSTEM INFORMATION; ROBOT MANIPULATOR; STABILIZING CONTROL LAW; STABLE CONTROL; TWO-LINK ROBOT MANIPULATORS;

ADAPTIVE ALGORITHMS; FLEXIBLE MANIPULATORS; INDUSTRIAL ELECTRONICS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; NEURAL NETWORKS; POSITION MEASUREMENT; ROBOT APPLICATIONS; TOPOLOGY;

ADAPTIVE CONTROL SYSTEMS;

EID: 77956030993     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICIEA.2010.5516980     Document Type: Conference Paper

References (20)

1. V. Santibanez, R. Kelly, and M. A. Llama, "A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators," IEEE Trans. Fuzzy Syst., vol.13, no.3, pp. 362-372, June 2005.
2. E. Kim, "Output feedback tracking control of robot anipulators with model uncertainty via adaptive fuzzy logic," IEEE Trans. Fuzzy Syst., vol.12, no.3, pp. 368-378, June 2004.
3. W. Gao and R. R. Selmic, "Neural network control of a class of nonlinear systems with actuator saturation," IEEE Trans. Neural Netw., vol.17, no.1, pp. 147-156, Jan. 2006.
4. E. M. Jafarov, M. N. A. Parlakçi, and Y. Istefanopulos, "A new variable structure PID-controller design for robot manipulators," IEEE Trans. Contr. Syst. Technol., vol.13, no.1, pp. 122-130, Jan. 2005.
5. B. S. Chen, H. J. Uang, and C. S. Tseng, "Robust tracking enhancement of robot systems including motor dynamics: a fuzzy-based dynamic game approach," IEEE Trans. Fuzzy Syst., vol.6, no.4, pp. 538-552, Nov. 1998.
6. G. Feng, "A survey on analysis and design of model-based fuzzy control systems," IEEE Trans. Fuzzy Syst., vol.14, no.5, pp. 676-697, Oct. 2006.
7. H. K. Lam and F. H. F. Leung, "Fuzzy controller with stability and performance rules for nonlinear systems," Fuzzy Sets Syst. vol.158, pp. 147-163, Jan. 2007.
8. P. P. Kumar, I. Kar, and L. Behera, "Variable-gain controllers for nonlinear systems using the T-S fuzzy model," IEEE Trans. Syst., Man, Cybern., Pt. B, vol.36, no.6, pp. 1442-1449, Dec. 2006.
9. C. C. Cheng and S. H. Chien, "Adaptive sliding mode controller design based on T-S fuzzy system models," Automatica, vol.42, no.6, pp. 1005-1010, June 2006.
10. L. X. Wang, A Course in Fuzzy Systems and Control. New Jersey: Prentice-Hall, 1997.
11. N. Goléa, A. Goléa, K. Barra, and T. Bouktir, "Observer-based adaptive control of robot manipulator: fuzzy systems approach," Appl. Soft Comput., vol.8, pp. 778-787, 2008.
12. S. Purwar, I. N. Kar, and A. N. Jha, "Adaptive output feedback tracking control of robot manipulators using position measurements only," Expert Systems With Applications (2007), doi.: 10.1016/j.eswa.2007.05.030.
13. C. T. Lin and C. S. George Lee, Neural Fuzzy Systems. New Jersey: Prentice-Hall, 1996.
14. O. Omidvar and D. L. Elliott, Neural Systems for Control. Academic Press, 1997.
15. Y. Gao and M. Joo, "Online adaptive fuzzy neural identification and control of a class of MIMO nonlinear systems," IEEE Trans. Fuzzy Syst., vol.11, no.4, pp. 462-477, Aug. 2003.
16. R. J. Wai and P. C. Chen, "Intelligent tracking control for robot manipulator including actuator dynamics via TSK-type fuzzy neural network," IEEE Trans. Fuzzy Syst., vol.12, no.4, pp. 552-559, Aug. 2004.
17. Y. G. Leu, W. Y. Wang, and T. T. Lee, "Observer-based direct adaptive fuzzy-neural control for nonaffine nonlinear systems," IEEE Trans. Neural Netw., vol.16, no.4, pp. 853-861, July 2005.
18. R. J. Wai and P. C. Chen, "Robust neural-fuzzy-network control for robot manipulator including actuator dynamics," IEEE Trans. Ind. Electron., vol.53, no.4, pp. 1328-1349, Aug. 2006.
19. H. K. Khalil, Nonlinear Systems. New Jersey: Prentice-Hall, 1996.
20. A. Boulkroune, M. Tadjine, M. M'Saad, and M. Farza, "How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems," Fuzzy Sets Syst., doi: 10.1016/j.fss.2007.08.015,2007.