中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators

文献类型:期刊论文

作者Sun FC(孙富春); Sun ZQ(孙增圻); Li, L; Li, HX
刊名FUZZY SETS AND SYSTEMS
出版日期2003
卷号134期号:1页码:117-133
关键词robotics neuro-fuzzy systems dynamic inversion fuzzy clustering adaptive control
ISSN号0165-0114
产权排序1
通讯作者孙富春
中文摘要This paper presents a stable neuro-fuzzy (NF) adaptive control approach for the trajectory tracking of the robotic manipulator with poorly known dynamics. Firstly, the fuzzy dynamic model of the manipulator is established using the Takagi-Sugeno (T-S) fuzzy framework with both structure and parameters identified through input/output data from the robot control process. Secondly, based on the derived fuzzy dynamics of the robotic manipulator, the dynamic NF adaptive controller is developed to improve the system performance by adaptively modifying the fuzzy model parameters on-line. The dynamic NF system aims to approximate the whole robot dynamics rather than its nonlinear components as is done by static neural networks. The dynamic inversion introduced for the controller design is constructed by the dynamic NF system and will help the NF controller design because it does not require the assumption that the robot states should be within a compact set. It is generally known that the compact set cannot be specified before the control loop is closed. Thirdly, the system stability and the convergence of tracking errors are guaranteed by Lya-punov stability theory, and the learning algorithm for the dynamic NF system is obtained thereby. Finally, simulation studies are carried out to show the viability and effectiveness of the proposed control approach.
WOS标题词Science & Technology ; Technology ; Physical Sciences
类目[WOS]Computer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability
研究领域[WOS]Computer Science ; Mathematics
关键词[WOS]NONLINEAR-SYSTEMS ; NETWORKS ; DESIGN ; IDENTIFICATION ; STABILITY ; MODELS
收录类别SCI ; EI ; CPCI(ISTP)
语种英语
WOS记录号WOS:000180682900008
公开日期2012-05-29
源URL[http://ir.sia.cn/handle/173321/7382]  
专题沈阳自动化研究所_机器人学研究室
推荐引用方式
GB/T 7714
Sun FC,Sun ZQ,Li, L,et al. Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators[J]. FUZZY SETS AND SYSTEMS,2003,134(1):117-133.
APA Sun FC,Sun ZQ,Li, L,&Li, HX.(2003).Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators.FUZZY SETS AND SYSTEMS,134(1),117-133.
MLA Sun FC,et al."Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators".FUZZY SETS AND SYSTEMS 134.1(2003):117-133.

入库方式: OAI收割

来源:沈阳自动化研究所

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