Fuzzy neuron variable structure control for a direct-drive manipulator

Jianming Zhang; Ning Wang; Shuqing Wang

doi:10.1117/12.522124

2 September 2003 Fuzzy neuron variable structure control for a direct-drive manipulator

Jianming Zhang, Ning Wang, Shuqing Wang

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.

Citation Download Citation

Jianming Zhang, Ning Wang, and 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); https://doi.org/10.1117/12.522124

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