Design of Adaptive T-S Fuzzy-Neural Controller for a Class of Robot Manipulators Using Projection Update Laws
| dc.contributor | 國立臺灣師範大學電機工程學系 | zh_tw |
| dc.contributor.author | Y.-H. Chien | en_US |
| dc.contributor.author | W.-Y. Wang | en_US |
| dc.contributor.author | T.-T. Lee | en_US |
| dc.date.accessioned | 2014-10-30T09:28:18Z | |
| dc.date.available | 2014-10-30T09:28:18Z | |
| dc.date.issued | 2010-10-13 | zh_TW |
| dc.description.abstract | An on-line tracking controller design based on using T-S fuzzy-neural modeling for a class of general robot manipulators is investigated in this paper. Also, we use rojection update laws to tune adjustable parameters for preventing parameters drift. In addition, stability of the closed-loop systems is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system asymptotically track the desired output trajectories. Finally, an example including two cases confirms the effectiveness of the proposed method. | en_US |
| dc.description.uri | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5642419 | zh_TW |
| dc.identifier | ntnulib_tp_E0604_02_014 | zh_TW |
| dc.identifier.uri | http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/31991 | |
| dc.language | en | zh_TW |
| dc.relation | EEE International Conference on Systems, Man and Cybernetics,Istanbul,Turkey, pp. 1255-1260 | en_US |
| dc.subject.other | T-S fuzzy-neural model | en_US |
| dc.subject.other | projection update law | en_US |
| dc.subject.other | robot manipulator | en_US |
| dc.title | Design of Adaptive T-S Fuzzy-Neural Controller for a Class of Robot Manipulators Using Projection Update Laws | en_US |