REAL-TIME ONLINE FUZZY MODELING FOR ROBOTIC MANIPULATORS

摘要：

This paper presents a real-time fuzzy modeling approach based on on-line clustering for a family of complex systems with severe nonlinearity such as robotic manipulators.The fuzzy model (Takagi-Sugeno fuzzy system) is identified real-time by online clustering and recursive least square estimation (RLSE).Using this method, the fuzzy rules can be added, modified and deleted automatically when the new data comes, and the consequence parameters of the T-S model can be recursively updated.Simulation results for a two-degree-of-freedom robot demonstrate the effectiveness and advantages of this approach.

关键词： Robotic manipulators Fuzzy modeling Online clustering Recursive least square estimation

作者: HONG-RUI WANG LEI LIN ZI-HUI ZHAO

作者单位: Hebei University, Baoding 071002, China Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China

会议类型: 国际会议

会议名称: 2007 International Conference on Machine Learning and Cybernetics(IEEE第六届机器学习与控制论国际会议)

会议地点: 香港

会议语种:英文

页码: 477-481

在线出版日期: 2007-08-19（万方平台首次上网日期，不代表论文的发表时间）