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Fuzzy Neural Networks Observer for Robotic Manipulators Based on H ∞  Approach

  • Hong-bin Wang
  • Chun-di Jiang
  • Hong-rui Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3174)

Abstract

This paper presents an observer for robotic systems using FNN method to estimate the joint velocities of a robot, and then H  ∞  approach is embedded to attenuate the effect of external distributes and parametric uncertainties of the robotic systems. Then a simulation example of 2-DOF robotic systems is given at last, from the simulation results, we can see the well performance of the designed observer and the estimation errors of the joint velocities are negligible.

Keywords

Robotic System Fuzzy Neural Network Robotic Manipulator Biped Robot Fuzzy Reasoning 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Zhi, L., Chunwen, L.: Fuzzy Neural Networks Quadratic Stabilization Output Feedback Control for Biped Robots via H∞ Approach. IEEE Transactions on System, Man and Cybernetics- PART B: Cybernetics 33, 67–84 (2003)Google Scholar
  2. 2.
    Han, L., Ding, L., Yanxi, Y., Xin, J.: Robot Manipulator Controller Based on Fuzzy Neural and CMAC Network. In: Proceedings of the Second International Conference on Machine Learning and Cybernetics, Xi An, China, pp. 525–529 (2003)Google Scholar
  3. 3.
    Nganga-Kouya, D., Saad, M., Lamarche, L.: Backstepping Passivity Adaptive Position Control for Robotic Manipulators. In: Proceeding of the American Control Conference, AK, pp. 4607–4611 (2002)Google Scholar
  4. 4.
    Minpeng, L., Pengyung, W.: Neural-Fuzzy Control System for Robotic Manipulators. IEEE Control Systems Magazine, 53–63 (2002)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Hong-bin Wang
    • 1
  • Chun-di Jiang
    • 1
  • Hong-rui Wang
    • 1
  1. 1.#524, Yanshan UniversityQinhuangdaoChina

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