A simulational comparison of intelligent control algorithms on a direct drive manipulator

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dc.contributor.authorAkbaş, Ertuğrul
dc.contributor.authorEsin, Murat
dc.date.accessioned2024-07-12T20:58:04Z
dc.date.available2024-07-12T20:58:04Z
dc.date.issued2004en_US
dc.departmentFakülteler, Mühendislik ve Doğa Bilimleri Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.description.abstractThis 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.en_US
dc.identifier.citationAkbaş, 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.en_US
dc.identifier.endpage244en_US
dc.identifier.issn0921-8890
dc.identifier.issue49en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage235en_US
dc.identifier.urihttps://www.sciencedirect.com/science/article/pii/S0921889004001678
dc.identifier.urihttps://hdl.handle.net/20.500.12415/3133
dc.identifier.volume3.Nisen_US
dc.institutionauthorAkbaş, Ertuğrul
dc.institutionauthorEsin, Murat
dc.language.isotren_US
dc.publisherElsevieren_US
dc.relation.ispartofRobotics and Autonomous Systemsen_US
dc.relation.isversionof10.1016/j.robot.2004.09.011en_US
dc.relation.publicationcategoryUlusal Hakemli Dergide Makale - Kurum Öğretim Elemanıen_US
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 United States*
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/us/*
dc.snmzKY03369
dc.subjectNeural networken_US
dc.subjectRoboticsen_US
dc.subjectGaussian neuro-fuzzy variable structureen_US
dc.subjectFeedback error learning architectureen_US
dc.subjectDirect inverse modeling architectureen_US
dc.titleA simulational comparison of intelligent control algorithms on a direct drive manipulatoren_US
dc.typeArticle
dspace.entity.typePublication

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