Design of Fuzzy-Neural-Network-Inherited Backstepping Control for Robot Manipulator Including Actuator Dynamics

This study presents the design and analysis of an intelligent control system that inherits the systematic and recursive design methodology for an n-link robot manipulator, including actuator dynamics, in order to achieve a high-precision position tracking with a firm stability and robustness. First,...

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Veröffentlicht in:	IEEE transactions on fuzzy systems Jg. 22; H. 4; S. 709 - 722
Hauptverfasser:	Wai, Rong-Jong, Muthusamy, Rajkumar
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.08.2014 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuators Adaptive tuning algorithm Algorithms Backstepping backstepping control (BSC) Control systems dc servomotors Design engineering Dynamical systems Dynamics Fuzzy control fuzzy neural network (FNN) Fuzzy neural networks Manipulator dynamics Manipulators Mathematical models Position tracking Robot arms robot manipulator Robots
ISSN:	1063-6706, 1941-0034
Online-Zugang:	Volltext
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