Observer-Based Adaptive Controller Design of Flexible Manipulators Using Time-Delay Neuro-Fuzzy Networks

Authors:
Deng Hui;Sun Fuchun;Sun Zengqi
Affiliations:
State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University Beijing, 100084, P.R. China/ e-mail: dh@s1000e.cs.tsinghua.edu.cn
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

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Abstract

In this paper, a dynamical time-delay neuro-fuzzy controller is proposed for the adaptive control of a flexible manipulator. It is assumed that the robotic manipulator has only joint angle position measurements. A linear observer is used to estimate the robot joint angle velocity. For a perfect tracking control of the robot, the output redefinition approach is used in the adaptive controller design using time-delay neuro-fuzzy networks. The time-delay neuro-fuzzy networks with the rule representation of the TSK type fuzzy system have better learning ability for complex dynamics as compared with existing neural networks. The novel control structure and learning algorithm are given, and a simulation for the trajectory tracking of a flexible manipulator illustrates the control performance of the proposed control approach.