Observer-based adaptive FNN control of robot manipulators: PSO-SA self adjust membership approach

Shih Kai-Shiuan, Li S. Tzuu-Hseng, Tsai Shun-Hung

研究成果: Conference contribution

摘要

In this paper, a novel observer-based adaptive fuzzy-neural network (FNN) control scheme for robotic systems is proposed for tracking performance and to suppress the effects caused by uncertainties, and disturbances. A PSO-SA based adaptive FNN system is used to approximate an unknown system from the manipulation of the model following tracking errors. The proposed scheme uses an observer, which allows for identifying the state of an unknown state in the system, simultaneously. It is shown that the proposed control scheme can guarantee the better tracking performance and suppress internal uncertainties or external disturbance. Simulations are given to show the validity and confirm the performance of the proposed scheme.

原文English
主出版物標題FUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings
頁面1852-1859
頁數8
DOIs
出版狀態Published - 2011 九月 27
事件2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011 - Taipei, Taiwan
持續時間: 2011 六月 272011 六月 30

出版系列

名字IEEE International Conference on Fuzzy Systems
ISSN(列印)1098-7584

Other

Other2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011
國家Taiwan
城市Taipei
期間11-06-2711-06-30

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence
  • Applied Mathematics

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  • 引用此

    Kai-Shiuan, S., Tzuu-Hseng, L. S., & Shun-Hung, T. (2011). Observer-based adaptive FNN control of robot manipulators: PSO-SA self adjust membership approach. 於 FUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings (頁 1852-1859). [6007432] (IEEE International Conference on Fuzzy Systems). https://doi.org/10.1109/FUZZY.2011.6007432