Smooth trajectory tracking of three-link robot: A self-organizing CMAC approach

被引：63

作者：

Hwang, KS ^{[1
]}

Lin, CS ^{[1
]}

机构：

[1] Natl Chung Cheng Univ, Dept Elect Engn, Chiayi, Taiwan

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 1998年 / 28卷 / 05期

关键词：

D O I：

10.1109/3477.718518

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A neuro-fuzzy system which is embedded in the conventional control theory is proposed to tackle physical learning control problems in this paper. The control scheme is composed of two elements. The first element, the fuzzy sliding mode controller (FSMC), is used to drive the state variables to a specific snitching hyperplane or a desired trajectory. The second one is developed based on the concept of the self-organizing fuzzy cerebellar model articulation controller (FCMAC) and adaptive heuristic critic (AHC). Both compose a forward compensator to reduce the chattering effect or cancel the influence of system uncertainties, A geometrical explanation on how the FCMAC algorithm works is provided and some refined procedures of the AHC are presented as well. Simulations on smooth motion of three-link robot is given to illustrate the performance and applicability of the proposed control scheme.

引用

页码：680 / 692

页数：13

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