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

DOI10.1007/S11071-016-2689-1zbMATH Open1349.93337OpenAlexW2294666930MaRDI QIDQ341663FDOQ341663

Weichen 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

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

Cites Work

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• 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
• Nonlinear control of electrical flexible-joint robots
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

Cited In (8)

• Observer-based adaptive controller design of flexible manipulators using time-delay neuro-fuzzy networks
• Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing
• Neuro-fuzzy adaptive control based on dynamic inversion for robotic manipulators
• Cooperative-theoretic optimal adaptive robust control for fuzzy multiple manipulator systems
• FAT-based robust adaptive control of electrically driven robots without velocity measurements
• Disturbance observer based adaptive predefined-time sliding mode control for robot manipulators with uncertainties and disturbances
• Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks
• Design of optimal hybrid position/force controller for a robot manipulator using neural networks

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