Robust Tracking Control of Space Robots Using Fuzzy Neural Network

摘要

This paper proposes for space robots a robust fuzzy neural network (FNN) controller, which does not require linear parameterization necessary for standard adaptive control of fixed-base robot manipulator. With suitable modifications, this FNN tracking controller can achieve high-precision position control. Simulation results of a two-link planar space robot verify the validity of the proposed RFNN controller in the presence of uncertainties.