Trajectory control of manipulators using type-2 fuzzy neural friction and disturbance compensator

An incrementally tuned interval type-2 Takagi-Sugeno-Kang (TSK) fuzzy neural network implementing fuzzy if-then rule base with first order output functions is proposed for compensation of friction and disturbance effects during the trajectory tracking control of rigid robot manipulators. Friction an...

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Bibliographische Detailangaben

Hauptverfasser:	Shiev, K., Shakev, N., Topalov, A. V., Ahmed, S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	computed torque control feedback linearization Friction friction compensator Fuzzy control Fuzzy neural networks Manipulator dynamics robot manipulator Trajectory type-2 fuzzy neural networks variable structure systems
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