Fuzzy Neural Network Control of a Flexible Robotic Manipulator Using Assumed Mode Method

• Published in: IEEE transaction on neural networks and learning systems Vol. 29; no. 11; pp. 5214 - 5227
• Main Authors: Sun, Changyin, Gao, Hejia, He, Wei, Yu, Yao
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.11.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Artificial neural networks; assumed mode method (AMM); Computer simulation; Control stability; dynamic modeling; Dynamic models; Feasibility studies; flexible robotic manipulator; Flexible structures; Fuzzy control; Fuzzy logic; Fuzzy systems; Manipulator dynamics; Network control; Neural networks; neural networks (NNs); Robot arms; Strain; Vibration; vibration control

In this paper, in order to analyze the single-link flexible structure, the assumed mode method is employed to develop the dynamic model. Based on the discrete dynamic model, fuzzy neural network (NN) control is investigated to track the desired trajectory accurately and to suppress the flexible vibr...