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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