Design of Hybrid Controller for Two-link Robot Manipulator

被引：0
|
作者：
Lu Bingjuan [1 ]
Ge Yunwang [1 ]
Wu Chao [1 ]
机构：
[1] Luoyang Inst Sci & Technol, Dept Elect Engn & Automat, Luoyang City, Henan Province, Peoples R China
来源：
2011 INTERNATIONAL CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND AUTOMATION (CCCA 2011), VOL I | 2010年
关键词：
Robot; FNN; CMAC; Hybrid controller;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a hybrid controller for robot manipulator is proposed. The structure is based on both Fuzzy Neural Network (FNN) and Cerebellar Model Articulation Controller (CMAC) and is of strong robustness on robotic dynamic model. Several simulation and experimental results are provided to demonstrate the effectiveness of the proposed hybrid controller. Moreover, the simulation results of timing varying and nonlinear disturbances are given to show the dynamic characteristics of the proposed controller over a broad range of operating conditions.
引用
收藏
页码：314 / 316
页数：3
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