Tip tracking of a flexible-link manipulator with radial basis function and fuzzy system

Authors:
Yuangang Tang;Fuchun Sun;Zengqi Sun
Affiliations:
State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing, China;State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing, China;State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing, China
Venue:
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
Year:
2005

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IEEE Transactions on Neural Networks

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Abstract

With output redefinition of flexible-link manipulators an adaptive controller for tip tracking is presented based on radial basis function network (RBFN) and fuzzy system. The uniformly asymptotical stability (UAS) of control system is guaranteed by the Lyapunov analysis and the adaptive laws including the centers and widths of Gaussian functions and coefficients of Takagi-Sugeno (TS) consequences can make the tracking error converge to zero. For comparison purpose, an RBFN controller with fixed centers and widths is also designed. The simulation results show that with similar performances the proposed controller can give smoother input torques than the conventional RBFN one.