NEURO-FUZZY CONTROLLER OF RIGID-FLEXIBLE MANIPULATORS WITH INTELLIGENCE MEMBERSHIP FUNCTION

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FARITUS SEYED MOHAMMAD REZA; HOMAEI HADI; HADIAN JAZI SHAHRAM

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Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:10 Page(s): 163-172

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Title

NEURO-FUZZY CONTROLLER OF RIGID-FLEXIBLE MANIPULATORS WITH INTELLIGENCE MEMBERSHIP FUNCTION

Author(s)

FARITUS SEYED MOHAMMAD REZA | HOMAEI HADI | HADIAN JAZI SHAHRAM | Issue Writer Certificate

Keywords

FLEXIBLE MANIPULATORQ1

NEURO-FUZZY CONTROLLERQ1

DYNAMIC RECURRENT NEURAL NETWORKQ1

Abstract

This paper presents a new Neuro-fuzzy control system to control rigid-FLEXIBLE MANIPULATORs. Enhancing the performance of fuzzy controller and intelligence in fuzzy and non-fuzzy units is the goal of this research. Proposed control system includes a fuzzy controller in the feedback and a neural network is the feed-forward. The network has the responsibility of estimating the inverse dynamic of device and then, the production of control command. Updating weighting coefficients of network is done online using the fuzzy controller output. On the other hand, two DYNAMIC RECURRENT NEURAL NETWORKs are used for making fuzzy unit intelligent. Networks are responsible for regulating the main factors of membership functions in the fuzzy controller. The input of these networks is error and error change rate and their weights are done by using an error back-propagation algorithm. To verify the effectiveness of the proposed method, simulation is conducted for skilled manipulators with three interfaces where the end interface is flexible. System responses to step input and sinusoidal input are separately obtained for fuzzy controllers and proposed controller and compared. Comparison and studies indicate the effectiveness of the provided method.

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APA: Copy

FARITUS, SEYED MOHAMMAD REZA, HOMAEI, HADI, & HADIAN JAZI, SHAHRAM. (2017). NEURO-FUZZY CONTROLLER OF RIGID-FLEXIBLE MANIPULATORS WITH INTELLIGENCE MEMBERSHIP FUNCTION. MODARES MECHANICAL ENGINEERING, 16(10 ), 163-172. SID. https://sid.ir/paper/178233/en

Vancouver: Copy

FARITUS SEYED MOHAMMAD REZA, HOMAEI HADI, HADIAN JAZI SHAHRAM. NEURO-FUZZY CONTROLLER OF RIGID-FLEXIBLE MANIPULATORS WITH INTELLIGENCE MEMBERSHIP FUNCTION. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(10 ):163-172. Available from: https://sid.ir/paper/178233/en

IEEE: Copy

SEYED MOHAMMAD REZA FARITUS, HADI HOMAEI, and SHAHRAM HADIAN JAZI, “NEURO-FUZZY CONTROLLER OF RIGID-FLEXIBLE MANIPULATORS WITH INTELLIGENCE MEMBERSHIP FUNCTION,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 10 , pp. 163–172, 2017, [Online]. Available: https://sid.ir/paper/178233/en

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