A fuzzy modeling method using fuzzy neural networks with the backpropagation algorithm is presented. The method can identify the fuzzy model of a nonlinear system automatically. The feasibility of the method is examined using simple numerical data.
AbsZruct-This paper presents a nonlinear compensator using neural networks for trajectory control of robotic manipulators. The adaptive capability of the neural network controller to compensate unstructured uncertainties is clarified. A model learning scheme is also proposed in this paper. The learning procedure is effective and efficient in learning the manipulator dynamics, and error convergence with untrained trajectories is fast.
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