A neuro fuzzy controller for planar robot manipulators
نویسندگان
چکیده
A neuro fuzzy control algorithm for planar robotic manipulators is developed in this paper. This control algorithm is able to handle uncertainties, disturbances or unmodeled dynamics. Asymptotic stability of the equilibrium state of the control system is shown by use of direct Lyapunov method and Barbalat’s Lemma. A series of simulations confirms the algorithm goodness. Key-Words: fuzzy controller, neuro fuzzy, Lyapunov stability, tracking control, robot manipulators
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