Inductive fuzzy neural network for multi-input multi-output dynamic systems modelling
Duc Truong Pham, Ashraf Fahmy, E.E. Eldukhri · ORCA Online Research @Cardiff (Cardiff University) · 2007
This paper presents a systematic inductive fuzzy neural network for multi-input multi-output dynamic systems modeling of a 6-DOF PUMA560® industrial robot arm based on input/output measurements. An inductive learning algorithm is applied to generate the required fuzzy modelling rules from input/output numerical measurements recorded from the dynamic system. Then, a full differentiable fuzzy neural network is developed to construct the dynamic model of the multi-input multi-output system, while back-propagation algorithm or similar techniques can be further applied to tune the network parameters due to the differentiable nature of the developed network.