Robust adaptive position and force controller design of robot manipulator using fuzzy neural networks

DOI10.1007/S11071-016-2689-1zbMath1349.93337OpenAlexW2294666930MaRDI QIDQ341663

Wei-Chen Wang, Ching-Hung Lee

Publication date: 16 November 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-2689-1

zbMATH Keywords

adaptive controlfuzzy neural networksrobot manipulatorforce control

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Neural networks for/in biological studies, artificial life and related topics (92B20) Adaptive or robust stabilization (93D21)

Related Items (4)

FAT-based robust adaptive control of electrically driven robots without velocity measurements ⋮ Cooperative-theoretic optimal adaptive robust control for fuzzy multiple manipulator systems ⋮ Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing ⋮ Disturbance observer based adaptive predefined-time sliding mode control for robot manipulators with uncertainties and disturbances

Cites Work

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• Nonlinear control of electrical flexible-joint robots
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
• Adaptive backstepping controller design for nonlinear uncertain systems using fuzzy neural systems
• Sliding control of non-linear systems containing time-varying uncertainties with unknown bounds
• Impedance Control: An Approach to Manipulation: Part I—Theory

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