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Title: On-line Adaptive T-S Fuzzy-Neural Control for A Class of General Multi-Link Robot Manipulators
Authors: 國立臺灣師範大學電機工程學系
W.-Y. Wang
Y.-H. Chien
Y.-G. Leu
T.-T. Lee
Issue Date: 1-Dec-2008
Publisher: 中華民國模糊學會
Abstract: This paper proposes a novel method of on-line modeling and control through the Takagi-Sugeno (T-S) fuzzy-neural model for a class of general n-link robot manipulators. Compared with previous methods, this paper has two unique aspects: first, a more general n-link robot system using on-line adaptive T-S fuzzy-neural controller is investigated, and second, the complete proof of the controller is given. The general robot systems are linearized via the mean value theorem, and then the T-S fuzzy-neural model can approximate the linearized system. Also, we propose an on-line identification algorithm and put significant emphasis on robust tracking controller design using an adaptive scheme for the robot systems. Finally, an example including two cases is provided to demonstrate the feasibility and robustness of the proposed method.
ISSN: 1562-2480
Other Identifiers: ntnulib_tp_E0604_01_019
Appears in Collections:教師著作

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