کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5005290 | 1369018 | 2009 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
New hybrid adaptive neuro-fuzzy algorithms for manipulator control with uncertainties-Comparative study
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. In this paper, some new hybrid adaptive neuro-fuzzy control algorithms (ANFIS) have been proposed for manipulator control with uncertainties. These hybrid controllers consist of adaptive neuro-fuzzy controllers and conventional controllers. The outputs of these controllers are applied to produce the final actuation signal based on current position and velocity errors. Numerical simulation using the dynamic model of six DOF puma robot arm with uncertainties shows the effectiveness of the approach in trajectory tracking problems. Performance indices of RMS error, maximum error are used for comparison. It is observed that the hybrid adaptive neuro-fuzzy controllers perform better than only conventional/adaptive controllers and in particular hybrid controller structure consisting of adaptive neuro-fuzzy controller and critically damped inverse dynamics controller.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 48, Issue 4, October 2009, Pages 497-502
Journal: ISA Transactions - Volume 48, Issue 4, October 2009, Pages 497-502
نویسندگان
Srinivasan Alavandar, M.J. Nigam,