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Informations générales |
| Auteur |
Amar, Rezoug; Mustapha, Hamerlain; Mohamed, Tadjine |
| Publié |
InTech Open Access Publisher, 2012
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| Abstract |
In the few last years, investigations in neural
networks, fuzzy systems and their combinations become
attractive research areas for modeling and controlling of
uncertain systems. In this paper, we propose a new
robust controller based on the integration of a Radial Base
Function Neural Network (RBFNN) and an Interval
Type‐2 Fuzzy Logic (IT2FLC) for robot manipulator
actuated by pneumatic artificial muscles (PAM). The
proposed approach was synthesized for each joint using
Sliding Mode Control (SMC) and named Radial Base
Function Neural Network Type‐2 Fuzzy Sliding Mode
Control (RBFT2FSMC). Several objectives can be
accomplished using this control scheme such as: avoiding
difficult modeling, attenuating the chattering effect of the
SMC, reducing the rules number of the fuzzy control,
guaranteeing the stability and the robustness of the
system, and finally handling the uncertainties of the
system. The proposed control approach is synthesized
and the stability of the robot using this controller was
analyzed using Lyapunov theory. In order to
demonstrate the efficiency of the RBFT2FSMC compared
to other control technique, simulations experiments were
performed using linear model with parameters
uncertainties obtained after identification stage. Results
show the superiority of the proposed approach compared
to RBFNN Type‐1 Fuzzy SMC. Finally, an experimental
study of the proposed approach was presented using 2‐
DOF robot. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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