Adaptive control of robot manipulators using fuzzy neural networks

被引：30
|
作者：
Gao, Y [1 ]
Er, MJ [1 ]
Yang, S [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2001年 / 48卷 / 06期
关键词：
adaptive control; fuzzy neural networks; multilink manipulators;
D O I：
10.1109/41.969410
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This letter presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: 1) self-organizing fuzzy neural structure; 2) online learning of the robot dynamics; 3) fast convergence of tracking error; and 4) adaptive control. Computer simulation results of a two-link manipulator demonstrate that excellent tracking performance can be achieved under external disturbances.
引用
收藏
页码：1274 / 1278
页数：5
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