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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Deng Hui Sun Fuchun Sun Zengqi Yang Tangwen |
| Copyright Year | 2002 |
| Description | Author affiliation: Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China (Deng Hui; Sun Fuchun; Sun Zengqi; Yang Tangwen) |
| Abstract | A dynamical time-delay neuro-fuzzy controller is proposed for the adaptive control of a flexible manipulator. It is assumed that the robotic manipulator has only joint angle position measurements. A linear observer is used to estimate the robot joint angle velocity. For perfect tracking control of the robot, an output redefinition approach is used in the adaptive controller design using time-delay neuro-fuzzy networks. The time-delay neuro-fuzzy networks with rule representation of a Takagi-Sugeno-Kang type fuzzy system have better learning ability for complex dynamics as compared with existing neural networks. The control structure and learning algorithm are given, and a simulation for the trajectory tracking of a flexible manipulator illustrates the control performance of the proposed control approach. |
| Sponsorship | Tongji Univ. Shanghai Jiaotong Univ. East China Univ. Sci. & Technol. IEEE Robotics & Autom. Soc. IEEE Control Syst. Soc. Beijing Chapter Chinese Assoc. Autom. Shanghai Assoc. Automation |
| Starting Page | 1241 |
| Ending Page | 1245 |
| File Size | 291974 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780372689 |
| DOI | 10.1109/WCICA.2002.1020780 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2002-06-10 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Programmable control Adaptive control Fuzzy neural networks Manipulator dynamics Position measurement Robot control Takagi-Sugeno-Kang model Fuzzy systems Neural networks Trajectory |
| Content Type | Text |
| Resource Type | Article |
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