A simulational comparison of intelligent control algorithms on a direct drive manipulator
Küçük Resim Yok
Tarih
2004
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Elsevier
Erişim Hakkı
Attribution-NonCommercial-NoDerivs 3.0 United States
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
Özet
This paper investigates the control of nonlinear systems by neural networks and fuzzy logic. As the control methods, Gaussian neuro-fuzzy variable structure (GNFVS), feedback error learning architecture (FELA) and direct inverse modeling architecture (DIMA) are studied, and their performances are comparatively evaluated on a two degrees of freedom direct drive robotic manipulator with respect to trajectory tracking performance, computational complexity, design complexity, RMS errors, necessary training time in learning phase and payload variations.
Açıklama
Anahtar Kelimeler
Neural network, Robotics, Gaussian neuro-fuzzy variable structure, Feedback error learning architecture, Direct inverse modeling architecture
Kaynak
Robotics and Autonomous Systems
WoS Q Değeri
Scopus Q Değeri
Q1
Cilt
3.Nis
Sayı
49
Künye
Akbaş, E. ve Esin, M. (2004). A simulational comparison of intelligent control algorithms on a direct drive manipulator. Elsevier, Robotics and Autonomous Systems. 3-4(49), s. 235-244.
