Design of Adaptive T-S Fuzzy-Neural Controller for a Class of Robot Manipulators Using Projection Update Laws
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Date
2010-10-13
Authors
Y.-H. Chien
W.-Y. Wang
T.-T. Lee
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Abstract
An 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.