Model Reference Adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

A model reference adaptive control and fuzzy neural network (FNN) synchronous motion compensator for a gantry robot is presented in this paper. This paper proposes the development application of robots with MRAC FNN online compensators. First, we propose controller (MRAC) under cascade method to make close real reduce tracking errors single axis. Then, proposed compensate between dual servo motors improve precise movement. In addition, an parameter training adjust parameters FNN. Finally, experimental results show that improves demonstrates methodology study also successfully integrates hardware verifies methods.