A Neuro-Fuzzy Approach for Trajectory Tracking of Two-Link Robot Manipulators

This paper presents a neuro-fuzzy scheme for controlling rigid robot manipulators. The proposed control strategy consists of two modules. In first module, RBFN model from the dynamical equations of the plant is acquired to approximate the nonlinear relation between inputs and outputs of the system. In second step, after the neural model obtained, by assigning suitable membership functions, setting heuristic fuzzy rules, and applying gradient descent method for optimization, the fuzzy controller is obtained. Simulations performed on a two-link robot manipulator illustrate the methods and exhibit its performance. The results confirm the accuracy and robustness of controller.

کلیدواژه ها:

MIMO systems ، Radial basis function network ، Fuzzy systems ، PID control ، Fuzzy control