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A Neuro-Fuzzy Approach for Trajectory Tracking of Two-Link Robot Manipulators

Publish place: 1st Joint Congress on Fuzzy and Intelligent Systems
Publish Year: 1386
Type: Conference paper
Language: English
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Link to this Paper:
https://civilica.com/doc/52691

Document National Code:

FJCFIS01_201

Index date: 3 June 2008

A Neuro-Fuzzy Approach for Trajectory Tracking of Two-Link Robot Manipulators abstract

This paper presents a neuro-fuzzy scheme for controlling rigid robot manipulators. The proposed control strategy consists of two modules. In first module, RBFN model from the dynamical equations of the plant is acquired to approximate the nonlinear relation between inputs and outputs of the system. In second step, after the neural model obtained, by assigning suitable membership functions, setting heuristic fuzzy rules, and applying gradient descent method for optimization, the fuzzy controller is obtained. Simulations performed on a two-link robot manipulator illustrate the methods and exhibit its performance. The results confirm the accuracy and robustness of controller.

A Neuro-Fuzzy Approach for Trajectory Tracking of Two-Link Robot Manipulators Keywords:

MIMO systems , Radial basis function network , Fuzzy systems , PID control , Fuzzy control

A Neuro-Fuzzy Approach for Trajectory Tracking of Two-Link Robot Manipulators authors

Matineh Shaker

Control and Intelligent Processing Center of Excellence, Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran

Caro Lucas

Control and Intelligent Processing Center of Excellence, Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran - Institute for Studies in Theoretical Physics and Mathematics, Tehran, Iran

Amir Homayoun Jafari

Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran.

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