Intelligent Control of Robotic Dynamic Systems
We describe in this chapter a new method for adaptive model-based control of robotic dynamic systems using a new hybrid neuro-fuzzy-fractal approach. Intelligent control of robotic systems is a difficult problem because the dynamics of these systems is highly non-linear. We describe an intelligent system for controlling robot manipulators to illustrate our neuro-fuzzy-fractal hybrid approach for adaptive control. We use a new fuzzy inference system for reasoning with multiple differential equations for model selection based on the relevant parameters for the problem. In this case, the fractal dimension of a time series of measured values of the variables is used as a selection parameter. We use neural networks for identification and control of robotic dynamic systems.
KeywordsFractal Dimension Fuzzy Logic Adaptive Control Robotic System Hide Neuron
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