Robot manipulator controller based on fuzzy neural and CMAC network

被引：5

作者：

Liu, H ^{[1
]}

Liu, D ^{[1
]}

Yang, YX ^{[1
]}

Jing, X ^{[1
]}

机构：

[1] Xian Univ Technol, Sch Automat & Informat Engn, Xian, Peoples R China

来源：

2003 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-5, PROCEEDINGS | 2003年

关键词：

uncertainty; fuzzy neural network; CMAC; slide mode control;

D O I：

10.1109/ICMLC.2003.1264533

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A new controller is proposed to deal with the uncertainty in robot manipulator dynamic system. This controller is composed of Fuzzy Neural Network (FNN) controller which replaces computed torque controller, Cerebellar model articulation (CMAC) controller which compensates control error online and slide mode controller which compensates fuzzy neural network fit error to enhance robustness of the control system. It is shown that this controller outperforms conventional fuzzy controller by improving learning ability that the conventional fuzzy system does not have with simulations of a two-link manipulator.

引用

页码：525 / 529

页数：5

共 50 条

[1] Fuzzy CMAC Nonsingular Sliding Mode Controller Design for a Robot Manipulator System
Taehyong, Ri
Li Shurong
Sungchan, Kim
[J]. 2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018), 2018, : 766 - 770
[2] A Compound Controller of an Aerial Manipulator Based on Maxout Fuzzy Neural Network
Qi, Xinchen
Wu, Jianwei
Pan, Jiansheng
[J]. COMPLEXITY, 2020, 2020
[3] Optimal design of CMAC neural-network controller for robot manipulators
Kim, YH
Lewis, FL
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, 2000, 30 (01): : 22 - 31
[4] Robot manipulator trajectory tracking control based on FWN and CMAC network
Liu, PF
Han, JQ
[J]. PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2005, VOLS 1 AND 2, 2005, : 522 - 526
[5] Adaptive neural network based fuzzy sliding mode control of robot manipulator
Gokhan Ak, Ayca
Cansever, Galip
[J]. 2006 IEEE CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, VOLS 1 AND 2, 2006, : 771 - +
[6] Hierarchical fuzzy controller for robot manipulator
Hadi, Ahmed Abdel
Elshafei, Abdel Latif
[J]. 2006 INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING & SYSTEMS, 2006, : 33 - +
[7] Robust Adaptive Fuzzy Control for Mobile Robot via Fuzzy CMAC Neural Network
Chen, Jie
Xi, Wen
Mo, Wei
[J]. INTERNATIONAL CONFERENCE ON MECHANICS AND CONTROL ENGINEERING (MCE 2015), 2015, : 301 - 307
[8] The Controller on RBF Fuzzy Neural Network of the Laying Pipe Manipulator
Dan, Wang
[J]. MEMS, NANO AND SMART SYSTEMS, PTS 1-6, 2012, 403-408 : 2704 - 2707
[9] Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks
Mai T.-L.
Wang Y.
[J]. Control Theory and Technology, 2014, 12 (4) : 368 - 382
[10] A novel neural controller for robot manipulator
Yu, J
Xu, L
Jiang, JP
Zhu, T
[J]. PROCEEDINGS OF THE 1996 IEEE IECON - 22ND INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3, 1996, : 1862 - 1866

← 1 2 3 4 5 →