Showing papers by "Yang Gao published in 2000"
01 Jan 2000
62 citations
01 Jan 2000
42 citations
01 Jan 2000
35 citations
01 Dec 2000
TL;DR: This paper presents a new control scheme utilizing fuzzy neural networks for trajectory control of robot manipulators, which is built based on model learning and on-line weight adjustment.
Abstract: This paper presents a new control scheme utilizing fuzzy neural networks for trajectory control of robot manipulators. The adaptive capability of the fuzzy neural controller ensures that high performance can be achieved and maintained under time-varying conditions. This intelligent control scheme consists of two portions. In the first portion, the fuzzy neural networks with dynamic structure, in short DFNNs, are constructed to estimate dynamics of the robot model. The second portion is the fuzzy neural controller, which is built based on model learning and on-line weight adjustment. Computer simulations of a two-link robot manipulator demonstrate the effectiveness and efficiency of the proposed scheme.
1 citations