A new adaptive fuzzy neural force controller for robots manipulator interacting with environments

Zong Yu Jhan, Ching Hung Lee, Chih Min Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

In this paper, a fuzzy neural network-based adaptive force control scheme for an it-link robot manipulator under an unknown environment is proposed. The dynamics model of the robot manipulator and the environment stiffness coefficient are assumed to be not exactly known in applications. Therefore, the traditional adaptive impedance force controller is not valid. In this study, the fuzzy neural systems (FNSs) are adopted to estimate the model of robot manipulator to propose an adaptive scheme to accomplish the tracking control problem. Based on the Lyapunov stability theory, the stability of the robot manipulator is guaranteed and the corresponding update laws of FNSs' parameters and stiffness coefficient of the environment can be obtained. Finally, simulation results of two-link robot manipulator contact with environment are introduced to illustrate the performance and effectiveness of our approach.

Original languageEnglish
Title of host publicationProceedings of 2015 International Conference on Machine Learning and Cybernetics, ICMLC 2015
PublisherIEEE Computer Society
Pages572-577
Number of pages6
ISBN (Electronic)9781467372213
DOIs
StatePublished - 30 Nov 2015
Event14th International Conference on Machine Learning and Cybernetics, ICMLC 2015 - Guangzhou, China
Duration: 12 Jul 201515 Jul 2015

Publication series

NameProceedings - International Conference on Machine Learning and Cybernetics
Volume2
ISSN (Print)2160-133X
ISSN (Electronic)2160-1348

Conference

Conference14th International Conference on Machine Learning and Cybernetics, ICMLC 2015
CountryChina
CityGuangzhou
Period12/07/1515/07/15

Keywords

  • Adaptive control
  • Force control
  • Fuzzy neural networks
  • Robot manipulator

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  • Cite this

    Jhan, Z. Y., Lee, C. H., & Lin, C. M. (2015). A new adaptive fuzzy neural force controller for robots manipulator interacting with environments. In Proceedings of 2015 International Conference on Machine Learning and Cybernetics, ICMLC 2015 (pp. 572-577). [7340617] (Proceedings - International Conference on Machine Learning and Cybernetics; Vol. 2). IEEE Computer Society. https://doi.org/10.1109/ICMLC.2015.7340617