Paper
Robust Neuro-Fuzzy Control of N-Link Robot Manipulators: Discrete-Time Case
- Authors:
- Heydar Toosian Shandiz; Sajjad Shoja Majidabad
- Abstract
- This paper deals with the design of robust and model-free controller for an n-link robot manipulator in discrete-time domain. At the first step, a robust and model-based discrete-time sliding mode controller (DSMC) is developed. Afterwards, a discrete-time neuro-fuzzy sliding mode controller (DNFSMC) is proposed to remove the drawbacks of DSMC. In this technique, a neural network (NN) parallel with fuzzy blocks is utilized to approximate the equivalent and switching terms of DSMC. NN weights are updated adaptively with back-propagation algorithm by using the fuzzy system output. Simulation results are illustrated to compare performances of DSMC and DNFSMC in the control of a three-link SCARA robot. Moreover, the sampling time effects on DNFSMC are discussed.
- Keywords
- SMC; DSMC; DNFSMC; Neural Network (NN); Fuzzy Logic; Sampling Time
- StartPage
- 17
- EndPage
- 29
- Doi
- 10.18005/JCSE0101003