International Journal of Computers Communications & Control
Hide
Show all
Email this article Robust Adaptive Neural-Fuzzy Network Tracking Control for Robot Manipulator
Abstract
This paper presents a robust adaptive neural-fuzzy network control (RANFNC) system for an n-link robot manipulator to achieve the highprecision position tracking. Initially, the model dynamic of an n-link robot manipulator is introduced. However, it is difficult to design a conformable model-based control scheme, for instance, external disturbances, friction forces and parameter variations. In order to deal with this problem, the RANFNC system is investigated to the joint position control of an n-link robot manipulator. In this control scheme, a four-layer neural-fuzzy-network (NFN) is used for the main role, and the adaptive tuning laws of network parameters are derived in the sense of a projection algorithm and the Lyapunov stability theorem to ensure network convergence as well as stable control performance. The merits of this model-free control scheme are that not only the stable position tracking performance can be guaranteed but also unknown system information and auxiliary control design are required in the control process. The simulation results are provided to verify the effectiveness of the proposed RANFNC methodology.
Keywords
Full Text:
PDFReferences
Jinzhu Peng, Yaonan Wang, Wei Sun, Yan Liu, A neural network sliding mode controller ith application to robotic manipulator, IEEE Conf. Int. Control, 1:2011-2015, 2000
B.K. Yoo and W.C Ham, Adaptive control of robot manipulator using fuzzy compensator, EEE Trans. Ind. Electron, 8(2):186-199, 2000
Shuzhi S. Ge, Adaptive neural network control of robot manipulator in task space, IEEE rans. Ind. Electron, 44(6):746-752, 1997
http://dx.doi.org/10.1109/41.649934
C.T. Lin and C.S. George Lee, Neural Fuzzy Systems, Englewood Cliffs, Prentice-Hall, 1996
Y.Q. Zhang and A. Kandel, Compensatory neural-fuzzy systems with fast learning algorithms, EEE Trans. Neural Newt, 9(1):83-105, 1998
http://dx.doi.org/10.1109/72.655032
Vesselenyi T., Dzitac S., Dzitac I., Manolescu M.-J., Fuzzy and Neural Controllers for a neumatic Actuator, NT J COMPUT COMMUN, ISSN 1841-9836. 2(4): 375-387, 2007
Alavandar S., Nigam M.J., Neuro-Fuzzy based Approach for Inverse Kinematics Solution of ndustrial Robot Manipulators, INT J COMPUT COMMUN, ISSN 1841-9836, 3(3):224-234, 008
AlavandarS., Nigam M.J., Inverse Kinematics Solution of 3DOF Planar Robot using ANFIS, T J COMPUT COMMUN, ISSN 1841-9836, 3(S):150-155, 2008
L.X. Wang, A course in Fuzzy Systems and Control, Englewood Cliffs, NJ:Prentice Hall, 1997
O. Omidvar and D.L. Elliott, Neural Systems for Control, Englewood Cliffs, NJ: Prentice- all, 1997
B.S. Chen, H.J. Uang, and C.S. Tseng, Robust tracking enhancement of robot systems ncluding motor dynamics: A fuzzy-based dynamic game approach, IEEE Trans. Fuzzy syst, 1(4):538-553, 1998
http://dx.doi.org/10.1109/91.728449
R.J. Schilling, Fundamentals of Robotics, Analysis and control. Hoboken, NJ: Prentice-Hall, 998
J.J.E. Slotime and W. Li, Applied Nonlinear Control, Hoboken, NJ: Prentice-Hall, 1991
H. K. Khalil, Nonlinear Systems. Englewood Cliffs, Englewood Cliffs, NJ: Prentice-Hall, 996
K. Liu and F.L. Lewis, Robust control techniques for general dynamic system, J. intell. obotic syst, 6:33-49, 1992
F.L. Lewis, C.T. Abdallah, and D.M Dawson, Control of Robot Manipulators, New York: acmillan, 1993
DOI: https://doi.org/10.15837/ijccc.2012.2.1414
Copyright (c) 2017 ThanhQuyen Ngo, YaoNan Wang, T. Long Mai, M. Hung Nguyen, Jun Chen
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
CC-BY-NC License for Website User
Articles published in IJCCC user license are protected by copyright.
Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:
- Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
- Maintain the integrity of the IJCCC article;
- Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the article;
- Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
- Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University has not endorsed this translation."
This is a non commercial license where the use of published articles for commercial purposes is forbiden.
Commercial purposes include:
- Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
- Copying, downloading or posting by a site or service that incorporates advertising with such content;
- The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
- Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
- Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;
The licensor cannot revoke these freedoms as long as you follow the license terms.
[End of CC-BY-NC License for Website User]
INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C), ISSN 1841-9836.
IJCCC was founded in 2006, at Agora University, by Ioan DZITAC (Editor-in-Chief), Florin Gheorghe FILIP (Editor-in-Chief), and Misu-Jan MANOLESCU (Managing Editor).
Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).
Ioan DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:
IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S), 2006); JCR2018: IF=1.585..
IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):
Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus
IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).
IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.
Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2);