1. A simulational comparison of intelligent control algorithms on a direct drive manipulator
- Author
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E. Murat Esin, Ertuğrul Akbaş, Maltepe Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Akbaş, Ertuğrul, and Esin, Murat
- Subjects
Direct inverse modeling architecture ,Computational complexity theory ,Computer science ,General Mathematics ,Robot manipulator ,Machine learning ,computer.software_genre ,Fuzzy logic ,Feedback error learning architecture ,Control theory ,Manipulator ,Artificial neural network ,business.industry ,Gaussian neuro-fuzzy variable structure ,Payload (computing) ,Robotics ,Neural network ,Computer Science Applications ,Nonlinear system ,Control and Systems Engineering ,Trajectory ,Artificial intelligence ,business ,Intelligent control ,computer ,Software ,DIMA - Abstract
This 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.
- Published
- 2004