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
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
FJCFIS01_201
تاریخ نمایه سازی: 14 خرداد 1387
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.
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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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