| Adaptive control of parallel manipulators via fuzzy-neural network algorithm |
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| 作者姓名： | Dachang ZHU Yuefa FANG |
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| 作者单位： | College of Mechanical and Electrical Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
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| 基金项目： | This work was supported by the National Natural Science Foundation of China （No. 50375001）. |
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| 摘 要： | This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms （FNNA）. With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric uncertainties are eliminated. FNNA is used to handle model uncertainties and external disturbances. In the proposed control scheme, we consider modifying the weight of fuzzy rules and present these rules to a MIMO system of parallel manipulators with more than three degrees-of-freedom （DoF）. The algorithm has the advantage of not requiring the inverse of the Jacobian matrix especially for the low DoF parallel manipulators. The validity of the control scheme is shown through numerical simulations of a 6-RPS parallel manipulator with three DoF.
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| 关 键 词： | 自适应控制 模糊神经网络算法 水平控制 自动控制理论 |
| 收稿时间： | 3/6/2006 12:00:00 AM |
| 修稿时间： | 2006-03-06 |
Adaptive control of parallel manipulators via fuzzy-neural network algorithm |
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| Dachang ZHU,Yuefa FANG.Adaptive control of parallel manipulators via fuzzy-neural network algorithm[J].Journal of Control Theory and Applications,2007,5(3):295-300. |
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| Authors: | Dachang ZHU Yuefa FANG |
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| Affiliation: | College of Mechanical and Electrical Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
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| Abstract: | This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms (FNNA).With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric uncertainties are eliminated. FNNA is used to handle model uncertainties and external disturbances. In the proposed control scheme, we consider modifying the weight of fuzzy rules and present these rules to a MIMO system of parallel manipulators with more than three degrees-of-freedom (DoF). The algorithm has the advantage of not requiring the inverse of the Jacobian matrix especially for the low DoF parallel manipulators. The validity of the control scheme is shown through numerical simulations of a 6-RPS parallel manipulator with three DoF. |
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| Keywords: | Parallel manipulator Adaptive control Fuzzy neural network algorithm Simulation |
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