Fuzzy-neural network compensator for Robot manipulator controlled by PD-like fuzzy system
In this paper, high tracking performance control structure for rigid robot manipulator is proposed. PD-like Sugano type fuzzy system is used as a main controller, while fuzzy-neural network (FNN) is used as a compensator for uncertainties by minimizing suitable function. The output of FNN is adde...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
College of Engineering, University of Basrah
2012-06-01
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| Series: | Iraqi Journal for Electrical and Electronic Engineering |
| Subjects: | |
| Online Access: | http://ijeee.org/volums/volume8/IJEEE8PDF/paper84.pdf |