Type-2 Fuzzy Hybrid Controller Network for Robotic Systems

Fei Chao, Dajun Zhou, Chih-Min Lin, Longzhi Yang, Changle Zhou, Changjing Shang

Allbwn ymchwil: Cyfraniad at gyfnodolynErthygladolygiad gan gymheiriaid

43 Dyfyniadau (Scopus)
182 Wedi eu Llwytho i Lawr (Pure)

Crynodeb

Dynamic control, including robotic control, faces both the theoretical challenge of obtaining accurate system models and the practical difficulty of defining uncertain system bounds. To facilitate such challenges, this paper proposes a control system consisting of a novel type of fuzzy neural network and a robust compensator controller. The new fuzzy neural network is implemented by integrating a number of key components embedded in a Type-2 fuzzy cerebellar model articulation controller (CMAC) and a brain emotional learning controller (BELC) network, thereby mimicking an ideal sliding mode controller. The system inputs are fed into the neural network through a Type-2 fuzzy inference system (T2FIS), with the results subsequently piped into sensory and emotional channels which jointly produce the final outputs of the network. That is, the proposed network estimates the nonlinear equations representing the ideal sliding mode controllers using a powerful compensator controller with the support of T2FIS and BELC, guaranteeing robust tracking of the dynamics of the controlled systems. The adaptive dynamic tuning laws of the network are developed by exploiting the popular brain emotional learning rule and the Lyapunov function. The proposed system was applied to a robot manipulator and a mobile robot, demonstrating its efficacy and potential; and a comparative study with alternatives indicates a significant improvement by the proposed system in performing the intelligent dynamic control.
Iaith wreiddiolSaesneg
Rhif yr erthygl8754689
Tudalennau (o-i)3778-3792
Nifer y tudalennau15
CyfnodolynIEEE Transactions on Cybernetics
Cyfrol50
Rhif cyhoeddi8
Dyddiad ar-lein cynnar03 Gorff 2019
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 31 Awst 2020

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