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2010 International Conference on Artificial Intelligence and Computational Intelligence
Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks
Sanya, China
October 23-October 24
ISBN: 978-0-7695-4225-6
ASCII Text
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Gang Liu, Wen-da Zheng, Tao Du, Jie Yang, "Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks," Artificial Intelligence and Computational Intelligence, International Conference on, vol. 2, pp. 263-266, 2010 International Conference on Artificial Intelligence and Computational Intelligence, 2010.
 
 
BibTex
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@article{ 10.1109/AICI.2010.177,
author = {Gang Liu and Wen-da Zheng and Tao Du and Jie Yang},
title = {Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks},
journal ={Artificial Intelligence and Computational Intelligence, International Conference on},
volume = {2},
year = {2010},
isbn = {978-0-7695-4225-6},
pages = {263-266},
doi = {http://doi.ieeecomputersociety.org/10.1109/AICI.2010.177},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Artificial Intelligence and Computational Intelligence, International Conference on
TI - Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks
SN - 978-0-7695-4225-6
SP263
EP266
A1 - Gang Liu,
A1 - Wen-da Zheng,
A1 - Tao Du,
A1 - Jie Yang,
PY - 2010
KW - adaptive control
KW - robotic dynamic systems
KW - fuzzy basis function networks
VL - 2
JA - Artificial Intelligence and Computational Intelligence, International Conference on
ER -
 
This paper presents a FBFN-based (Fuzzy Basis Function Network) adaptive control algorithm for uncertain robot manipulators. According to the nominal mode, the corresponding control law was designed. However, there always exists discrepancy between nominal and actual mode, and the FBFN was applied to approximate the uncertainty. After that, the adaptive law was designed to update the parameters of FBFN. Based on the theory of Lyapunov stability, the stability of the adaptive controller was given with a sufficient condition. A two-arm robot is simulated to verify the feasibility of the proposed control scheme.
Index Terms:
adaptive control, robotic dynamic systems, fuzzy basis function networks
Citation:
Gang Liu, Wen-da Zheng, Tao Du, Jie Yang, "Adaptive Control of Robotic Dynamic Systems Based on Fuzzy Basis Function Networks," aici, vol. 2, pp.263-266, 2010 International Conference on Artificial Intelligence and Computational Intelligence, 2010
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