國立臺灣師範大學電機工程學系Y.-H. ChienW.-Y. WangT.-T. Lee2014-10-302014-10-302010-10-13http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/31991An on-line tracking controller design based on using T-S fuzzy-neural modeling for a class of general robot manipulators is investigated in this paper. Also, we use rojection update laws to tune adjustable parameters for preventing parameters drift. In addition, stability of the closed-loop systems is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system asymptotically track the desired output trajectories. Finally, an example including two cases confirms the effectiveness of the proposed method.T-S fuzzy-neural modelprojection update lawrobot manipulator