A Robust Adaptive Control using Fuzzy Neural Network for Robot Manipulators with Dead-Zone


  • D. Ha Vu hunan university https://orcid.org/0000-0002-0303-5781
  • Shoudao Huang College of Electrical and Information Engineering Hunan University, Changsha, China
  • T. Diep Tran College of Electrical and Information Engineering Hunan University, Changsha, China
  • T. Yen Vu Faculty of Electrical Engineering Saodo University, Chilinh, Vietnam
  • V. Cuong Pham Faculty of Electrical Engineering Hanoi University of Industry, Hanoi, Vietnam


adaptive control, fuzzy neural networks, robot manipulators, unknown dead-zone


In this paper, a robust-adaptive-fuzzy-neural-network controller (RAFNNs) bases on dead zone compensator for industrial robot manipulators (RM) is proposed to dead the unknown model and external disturbance. Here, the unknown dynamics of the robot system is deal by using fuzzy neural network to approximate the unknown dynamics. The online training laws and estimation of the dead-zone are determined by Lyapunov stability theory and the approximation theory. In this proposal, the robust sliding-mode-control (SMC) is constructed to optimize parameter vectors, solve the approximation error and higher order terms. Therefore, the stability, robustness, and desired tracking performance of RAFNNs for RM are guaranteed. The simulations and experiments performed on three-link RM are provided in comparison with neural-network (NNs) and proportional-integral-derivative (PID) to demonstrate the robustness and effectiveness of the RAFNNs.

Author Biography

D. Ha Vu, hunan university

College of Electrical and Information Engineering, Hunan University, Hunan, P.R. China


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