Fuzzy-neural adaptive controller design: with application to multiple-link robot control

被引：0
|
作者：
Hsu, YC
Chen, GR
Malki, HA
机构：
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS, VOLS 1-4 | 1997年
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D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
An adaptive control algorithm based on the sliding mode principle, equipped with fuzzy logic to handle system modeling uncertainties, is developed in this paper. Along with a neural-network learning scheme that enhances the adaptive control capability, this controller performs satisfactory tracking control for a large class of robot models that contain significant but unknown friction and disturbances. Both mathematical analysis and computer simulation are enclosed for demonstration.
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页码：1705 / 1709
页数：5
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