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

页码：1274 / 1278

页数：5