Neuro-fuzzy dynamic-inversion-based adaptive control for robotic manipulators - discrete time case

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)1342-1351
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - Jun 2007


In this paper, we present a stable discrete-time adaptive tracking controller using a neuro-fuzzy (NF) dynamicinversion for a robotic manipulator with its dynamics approximated by a dynamic T-S fuzzy model. The NF dynamic-inversion constructed by a dynamic NF (DNF) system is used to compensate for the robot inverse dynamics for a better tracking performance. By assigning the dynamics of the DNF system, the dynamic performance of a robot control system can be guaranteed at the initial control stage, which is very important for enhancing system stability and adaptive learning. The discrete-time adaptive control composed of the NF dynamic-inversion and NF variable structure control (NF-VSC) is developed to stabilize the closed-loop system and ensure the high-quality tracking. The NF-VSC enhances the stability of the controlled system and improves the system dynamic performance during the NF learning. The system stability and the convergence of tracking errors are guaranteed by the Ly apuno v stability theory, and the learning algorithm for the DNF system is obtained thereby. An example is given to show the viability and effectiveness of the proposed control approach. © 2007 IEEE.

Research Area(s)

  • Adaptive control, Dynamic-inversion, Neuro-fuzzy (NF) systems, NF variable structure, Robotic manipulators