Adaptive control of robot manipulators using fuzzy neural networks
Yang Gao, Meng Joo Er, Song Yang · IEEE Transactions on Industrial Electronics · 2001
This paper presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure; (2) online learning of the robot dynamics; (3) fast convergence of tracking error; and (4) adaptive control. Computer simulation results of a two-link manipulator demonstrate that excellent tracking performance can be achieved under external disturbances.