Journal ArticleDOI
A comparative study of soft-computing methodologies in identification of robotic manipulators
M. Onder Efe,Okyay Kaynak +1 more
TLDR
This paper investigates the identification of nonlinear systems by utilizing soft-computing approaches and feedforward neural network architecture, radial basis function neural networks, Runge–Kutta neural networks and adaptive neuro-fuzzy inference systems are studied.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2000-02-29. It has received 38 citations till now. The article focuses on the topics: Feedforward neural network & Time delay neural network.read more
Citations
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Journal ArticleDOI
Fractional Fuzzy Adaptive Sliding-Mode Control of a 2-DOF Direct-Drive Robot Arm
TL;DR: A novel parameter adjustment scheme to improve the robustness of fuzzy sliding-mode control achieved by the use of an adaptive neuro-fuzzy inference system (ANFIS) architecture utilizes fractional-order integration in the parameter tuning stage.
Journal ArticleDOI
A fractional adaptation law for sliding mode control
TL;DR: In this paper, a parameter tuning law that forces the emergence of a sliding motion in the behavior of a multi-input multi-output nonlinear dynamic system is presented, and the proposed technique has been assessed through a set of simulations considering the dynamic model of a two degrees of freedom direct drive robot.
Journal ArticleDOI
Stable training of computationally intelligent systems by using variable structure systems technique
TL;DR: A heuristic that a computationally intelligent system can be trained such that the adjustable parameter values are forced to settle down (parameter stabilization) while minimizing an appropriate cost function (cost optimization) is developed.
Proceedings ArticleDOI
Improving the dynamic accuracy of industrial robots by trajectory pre-compensation
Walter Verdonck,Jan Swevers +1 more
TL;DR: This paper presents a method to improve the path tracking accuracy of an industrial robot without replacing the standard industrial controller by calculating off-line an appropriate trajectory pre-compensation and filtering the desired trajectory with the inverse dynamic model of the robot and its velocity controller.
Journal ArticleDOI
Parametric and Non-Parametric Identification of a Two Dimensional Flexible Structure
I. Z. Mat Darus,M. O. Tokhi +1 more
TL;DR: An investigation into the parametric and non-parametric modelling of a two dimensional flexible plate structure is presented and a comparative assessment of the techniques used is presented in terms of accuracy, efficiency and performance in estimating the modes of vibration of the system.
References
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Book
Fuzzy sets
TL;DR: A separation theorem for convex fuzzy sets is proved without requiring that the fuzzy sets be disjoint.
Journal ArticleDOI
Multilayer feedforward networks are universal approximators
TL;DR: It is rigorously established that standard multilayer feedforward networks with as few as one hidden layer using arbitrary squashing functions are capable of approximating any Borel measurable function from one finite dimensional space to another to any desired degree of accuracy, provided sufficiently many hidden units are available.
Book ChapterDOI
Learning internal representations by error propagation
TL;DR: This chapter contains sections titled: The Problem, The Generalized Delta Rule, Simulation Results, Some Further Generalizations, Conclusion.
Book
Learning internal representations by error propagation
TL;DR: In this paper, the problem of the generalized delta rule is discussed and the Generalized Delta Rule is applied to the simulation results of simulation results in terms of the generalized delta rule.
Journal ArticleDOI
Multilayer feedforward networks are universal approximators
HornikK.,StinchcombeM.,WhiteH. +2 more
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A comparative study of neural network structures in identification of nonlinear systems
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