Sequential Adaptive Fuzzy Inference System Based Intelligent Control of Robot Manipulators
Автор: Sahraoui Mustapha, Khelfi Mohamed Fayçal, Salem Mohammed
Журнал: International Journal of Intelligent Systems and Applications(IJISA) @ijisa
Статья в выпуске: 11 vol.6, 2014 года.
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The present paper is dedicated to the presentation and implementation of an optimized technique allowing an on-line estimation of a robot manipulator parameters to use them in a computed torque control. Indeed the proposed control law needs the exact robot model to give good performances. The complexity of the robot manipulator and its strong non-linearity makes it hard to know its parameters. Therefore, we propose in this paper to use neuro-fuzzy networks Sequential Adaptive Fuzzy Inference System (SAFIS) to estimate the parameters of the controlled robot manipulator.
Artificial Intelligence, SAFIS (Sequential Adaptive Fuzzy Inference System), Neuro-Fuzzy Networks, Nonlinear System, Control, Robot Manipulator
Короткий адрес: https://sciup.org/15010626
IDR: 15010626
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