Title :
Online fuzzy based intelligent control of robot manipulator by SAFIS approach
Author :
Sahraoui, Mohamed ; Salem, Mahmoud ; Khelfi, M.F.
Author_Institution :
Fac. of Sci. & Technol., Univ. of Mascara, Mascara, Algeria
Abstract :
The present paper is dedicated to the presentation and implementation of an optimized technique allowing an on-line estimation of a robot manipulator parameters to use them in a computed torque control. Indeed the proposed control law needs the exact robot model to give good performances. The complexity of the robot manipulator and its strong non-linearity makes it hard to know its parameters. Therefore, we propose in this paper to use neuro-fuzzy networks Sequential Adaptive Fuzzy Inference System (SAFIS) to estimate the parameters of the controlled robot manipulator.
Keywords :
adaptive control; estimation theory; fuzzy control; inference mechanisms; intelligent control; manipulators; torque control; SAFIS approach; neurofuzzy networks; online estimation; online fuzzy based intelligent control; robot manipulator parameters; sequential adaptive fuzzy inference system; torque control; Adaptation models; Computational modeling; Manipulator dynamics; Torque control; Vectors; Artificial Intelligence; SAFIS (Sequential Adaptive Fuzzy Inference System); control; neuro-fuzzy networks; nonlinear system; robot manipulator;
Conference_Titel :
Complex Systems (ICCS), 2012 International Conference on
Conference_Location :
Agadir
Print_ISBN :
978-1-4673-4764-8
DOI :
10.1109/ICoCS.2012.6458533
