2 September 2003 Fuzzy neuron variable structure control for a direct-drive manipulator
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Proceedings Volume 5253, Fifth International Symposium on Instrumentation and Control Technology; (2003) https://doi.org/10.1117/12.522124
Event: Fifth International Symposium on Instrumentation and Control Technology, 2003, Beijing, China
Abstract
Based on the neuron model and its learning strategy proposed in reference one, the fuzzy neuron variable structure control method is proposed in this paper. In this variable structure control system, the fuzzy controller speeds up the transient response when the system error is big and the neuron controller eliminates the steady state error of the system by utilizing the associate learning algorithm. To the independent joint of direct-drive manipulator, the control experiments are made. The results show that this model-free controller has good performance.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jianming Zhang, Ning Wang, Shuqing Wang, "Fuzzy neuron variable structure control for a direct-drive manipulator", Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); doi: 10.1117/12.522124; https://doi.org/10.1117/12.522124
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