T-S fuzzy model in discrete form and its application to identification of a plane manipulator with two degrees of freedom

Author

Zhendong, Zhang ; Zenqi, Sun

Author_Institution

Dept. of Electr. Eng., Hebei Univ. of Technol., Tianjin, China

Volume

1

fYear

1997

fDate

28-31 Oct 1997

Firstpage

368

Abstract

A discrete form of a Takagi-Sugeno (T-S) model for a plane manipulator with two degrees of freedom is proposed. The identification problem of the T-S model is discussed. In the first step, the system is excited by a pseudo-random number sequence in every node, the input and output data are recorded, and then a local linearization equation is identified by the method of least squares in the node. In the second step, the model identified in the first step is corrected by a fuzzy-neural network in order to improve its accuracy. Finally, a simulation result of the system is proposed

Keywords

discrete systems; fuzzy neural nets; fuzzy systems; identification; least squares approximations; linearisation techniques; manipulators; random number generation; sequences; T-S fuzzy model; Takagi-Sugeno model; discrete-form T-S model; fuzzy-neural network; input data; least squares method; local linearization equation; model accuracy; model correction; model identification; output data; plane manipulator; pseudo-random number sequence; simulation; system excitation; Application software; Computer science; Fuzzy control; Fuzzy neural networks; Helium; Least squares approximation; Least squares methods; Neural networks; Nonlinear equations; Sun;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.672802

Filename

672802