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		Dachang ZHU,Yuefa FANG.[en_title][J].Control Theory and Technology,2007,5(3):295~300.[Copy]

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DachangZHU,YuefaFANG
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Received:March 06, 2006Revised:September 21, 2006

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Adaptive control of parallel manipulators via fuzzy-neural network algorithm

Dachang ZHU, Yuefa FANG

(College of Mechanical and Electrical Control Engineering, Beijing Jiaotong University, Beijing 100044, China)

Abstract:

This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms (FNNA).With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric uncertainties are eliminated. FNNA is used to handle model uncertainties and external disturbances. In the proposed control scheme, we consider modifying the weight of fuzzy rules and present these rules to a MIMO system of parallel manipulators with more than three degrees-of-freedom (DoF). The algorithm has the advantage of not requiring the inverse of the Jacobian matrix especially for the low DoF parallel manipulators. The validity of the control scheme is shown through numerical simulations of a 6-RPS parallel manipulator with three DoF.

Key words: Parallel manipulator Adaptive control Fuzzy neural network algorithm Simulation