Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Neural fuzzy systems: a neuro-fuzzy synergism to intelligent systems
Neural fuzzy systems: a neuro-fuzzy synergism to intelligent systems
Constructing fuzzy models by product space clustering
Fuzzy model identification
H∞ control of uncertain fuzzy continuous-time systems
Fuzzy Sets and Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An adaptive fuzzy controller based on sliding mode for robotmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An approach to fuzzy control of nonlinear systems: stability and design issues
IEEE Transactions on Fuzzy Systems
Stable adaptive control using fuzzy systems and neural networks
IEEE Transactions on Fuzzy Systems
A new approach to fuzzy modeling
IEEE Transactions on Fuzzy Systems
On the interpretation and identification of dynamic Takagi-Sugeno fuzzy models
IEEE Transactions on Fuzzy Systems
Stable neural-network-based adaptive control for sampled-data nonlinear systems
IEEE Transactions on Neural Networks
A recurrent self-organizing neural fuzzy inference network
IEEE Transactions on Neural Networks
Nonlinear adaptive trajectory tracking using dynamic neural networks
IEEE Transactions on Neural Networks
Journal of Intelligent and Robotic Systems
A fast on-line learning algorithm for multidimensional fuzzy neural networks
MMACTE'05 Proceedings of the 7th WSEAS International Conference on Mathematical Methods and Computational Techniques In Electrical Engineering
Soft computing methods applied to the control of a flexible robot manipulator
Applied Soft Computing
Intelligent hybrid control strategy for trajectory tracking of robot manipulators
Journal of Control Science and Engineering
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
ICANN '09 Proceedings of the 19th International Conference on Artificial Neural Networks: Part I
Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
Fuzzy Sets and Systems
A functional neural fuzzy network for classification applications
Expert Systems with Applications: An International Journal
CONTROL'05 Proceedings of the 2005 WSEAS international conference on Dynamical systems and control
A new approach to evolutionary optimized fuzzy neural networks
ICS'06 Proceedings of the 10th WSEAS international conference on Systems
Feedback control of humanoid robot locomotion
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part I
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This paper presents a stable neuro-fuzzy (NF) adaptive control approach for the trajectory tracking of the robotic manipulator with poorly known dynamics. Firstly, the fuzzy dynamic model of the manipulator is established using the Takagi-Sugeno (T-S) fuzzy framework with both structure and parameters identified through input/output data from the robot control process. Secondly, based on the derived fuzzy dynamics of the robotic manipulator, the dynamic NF adaptive controller is developed to improve the system performance by adaptively modifying the fuzzy model parameters on-line. The dynamic NF system aims to approximate the whole robot dynamics rather than its nonlinear components as is done by static neural networks. The dynamic inversion introduced for the controller design is constructed by the dynamic NF system and will help the NF controller design because it does not require the assumption that the robot states should be within a compact set. It is generally known that the compact set cannot be specified before the control loop is closed. Thirdly, the system stability and the convergence of tracking errors are guaranteed by Lyapunov stability theory, and the learning algorithm for the dynamic NF system is obtained thereby. Finally, simulation studies are carried out to show the viability and effectiveness of the proposed control approach.