Online adaptive control of robot manipulators using dynamic fuzzy neural networks

摘要

This paper presents a robust adaptive fuzzy neural controller suitable for motion control of a multi-link robot manipulator. The proposed controller has the following salient features: (1) the dynamic fuzzy neural networks structure, i.e. fuzzy control rules, can be generated or deleted automatically; (2) adaptive learning; (3) online learning of the robot dynamics; (4) fast learning speed; and (5) fast convergence of tracking error. The global stability of the system is established using the Lyapunov approach. Computer simulation studies of a two-link robot manipulator demonstrate that an excellent tracking performance can be achieved under external disturbances.