Adaptive control of parallel manipulators via fuzzy-neural network algorithm

Adaptive control of parallel manipulators via fuzzy-neural network algorithm

Dachang ZHU; Yuefa FANG

【期刊名称】《《控制理论与应用（英文版）》》 【年(卷),期】2007(005)003

【摘要】This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms (FNNA). With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric uncertainties are eliminated. FNNA is used to handle model uncertainties and external disturbances. In the proposed control scheme,we consider modifying the weight of fuzzy rules and present these rules to a MIMO system of parallel manipulators with more than three degrees-of-freedom (DoF). The algorithm has the advantage of not requiring the inverse of the Jacobian matrix especially for the low DoF parallel manipulators. The validity of the control scheme is shown through numerical simulations of a 6-RPS parallel manipulator with three DoF.

【总页数】6页(295-300)

【关键词】Parallel manipulator; Adaptive control; Fuzzy neural network algorithm; Simulation

【作者】Dachang ZHU; Yuefa FANG

【作者单位】College of Mechanical and Electrical Control Engineering