Akbaş, ErtuğrulEsin, Murat2024-07-122024-07-122004Akbaş, 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. 235-244.0921-8890https://www.sciencedirect.com/science/article/pii/S0921889004001678https://hdl.handle.net/20.500.12415/3133This 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.trAttribution-NonCommercial-NoDerivs 3.0 United Statesinfo:eu-repo/semantics/openAccessNeural networkRoboticsGaussian neuro-fuzzy variable structureFeedback error learning architectureDirect inverse modeling architectureArticle24449Q12353.Nis