A New Adaptive Neuro-Fuzzy Controller for Trajectory Tracking of Robot Manipulators

  title={A New Adaptive Neuro-Fuzzy Controller for Trajectory Tracking of Robot Manipulators},
  author={Dimitris C. Theodoridis and Yiannis S. Boutalis and Manolis A. Christodoulou},
  journal={Int. J. Robotics Autom.},
In this paper, an adaptive control method for trajectory tracking of robot manipulators, based on new neuro-fuzzy modelling is presented. The proposed control scheme uses a three-layer neural fuzzy network (NFN) to estimate system uncertainties. The function of robot system dynamics is first modelled by a fuzzy system, which in the sequel is approximated by a combination of high order neural networks (HONNs). The overall representation is linear in respect to the unknown NN weights leading to… 

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