Title :
Tracking control design for robot manipulator via fuzzy neural network
Author :
Wai, Rong-Jong ; Hsieh, Kuan-Yun
Author_Institution :
Dept. of Electr. Eng., Yuan Ze Univ., Chung-li, Taiwan
fDate :
6/24/1905 12:00:00 AM
Abstract :
A robust fuzzy-neural-network (RFNN) control system is proposed for the tracking control of an n-link robot manipulator to achieve high-precision position control via the backstepping design procedure. Computer simulations of a three-link SCARA robot manipulator verify the validity of the proposed RFNN control strategy in the possible presence of uncertainties
Keywords :
digital simulation; feedback; fuzzy neural nets; manipulator dynamics; position control; robust control; stability; backstepping design procedure; computer simulations; position control; robot manipulator; robust fuzzy-neural-network control system; three-link SCARA robot manipulator; tracking control; tracking control design; Backstepping; Computer simulation; Control design; Control systems; Fuzzy control; Manipulators; Position control; Robots; Robust control; Uncertainty;
Conference_Titel :
Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on
Conference_Location :
Honolulu, HI
Print_ISBN :
0-7803-7280-8
DOI :
10.1109/FUZZ.2002.1006713
