Discrete-Time Adaptive Controller Design for Robotic Manipulators via Neuro-fuzzy Dynamic Inversion

A stable discrete-time adaptive tracking controller using neuro–fuzzy (NF) dynamic inversion is proposed for a robotic manipulator with its dynamics approximated by a dynamic T-S fuzzy model. NF dynamic inversion is used to compensate for the robot inverse dynamics. By assigning the dynamics of the...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Sun, Fuchun, Tang, Yuangang, Li, Lee, Yin, Zhonghang
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive Control Applied sciences Artificial intelligence Computer science control theory systems Dynamic Inversion Exact sciences and technology Fuzzy Model Learning and adaptive systems Robotic Manipulator Tracking Error
Online-Zugang:	Volltext
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