REAL-TIME ONLINE FUZZY MODELING FOR ROBOTIC MANIPULATORS

机译：机器人的实时在线模糊建模

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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.

机译：本文提出了一种基于在线聚类的实时模糊建模方法，用于一类具有严重非线性的复杂系统，例如机械手。最小二乘估计（RLSE）：使用此方法，可以在出现新数据时自动添加，修改和删除模糊规则，并且可以递归更新TS模型的结果参数。自由机器人展示了这种方法的有效性和优势。

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《Proceedings of the 2007 International Conference on Machine Learning and Cybernetics》|2007年|P.477-481|共5页
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HONG-RUI WANG; LEI LIN; ZI-HUI ZHAO;
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正文语种
中图分类计算技术、计算机技术;
关键词
Robotic manipulators; Fuzzy modeling; Online clustering; Recursive least square estimation;

机译：机器人操纵器;模糊建模;在线聚类;递推最小二乘估计;
入库时间 2022-08-26 14:56:14

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1. Robotic manipulator control based on an optimal fractional-order fuzzy PID approach: SiL real-time simulation [J] . Soft computing: A fusion of foundations, methodologies and applications . 2020,第5期

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2. Fuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators [J] . Ashkan M. Z. Jasour, Mohammad Farrokhi International Journal of Automation and Control . 2010,第2期

机译：模糊改进的自适应神经网络控制器，用于冗余机器人路径的在线路径跟踪和避障
3. Online modeling and adaptive control of robotic manipulators using Gaussian radial basis function networks [J] . Kumar Rajesh, Srivastava Smriti, Gupta J. R. P. Neural computing & applications . 2018,第1期

机译：高斯径向基函数网络在线建模与机器人操纵器的自适应控制
4. REAL-TIME ONLINE FUZZY MODELING FOR ROBOTIC MANIPULATORS [C] . HONG-RUI WANG, LEI LIN, ZI-HUI ZHAO International Conference on Machine Learning and Cybernetics . 2007

机译：机器人操纵器实时在线模糊建模
5. Implementation of a knowledge-based fuzzy logic controller and a fuzzy-sliding mode controller to control flexible robotic manipulators. [D] . Bazzi, Bilal A. 2004

机译：基于知识的模糊逻辑控制器和模糊滑模控制器的实现，以控制柔性机械手。
6. A Custom EOG-Based HMI Using Neural Network Modeling to Real-Time for the Trajectory Tracking of a Manipulator Robot [O] . Francisco D. Perez Reynoso, Paola A. Niño Suarez, Oscar F. Aviles Sanchez, 2020

机译：基于自定义EOG的HMI使用神经网络建模实时进行机器人机器人的轨迹跟踪
7. Hybrid control of robotic manipulator by neural network model. 3rd rtport. Control of 2 D.O.F. manipulators by neural network using fuzzy set theory. [O] . Toshio FUKUDA, Takanori SHIBATA, Masatoshi TOKITA, 1991

机译：神经网络模型机器人操纵器的混合控制。第3 rtport。控制2 d.o.f.使用模糊集理论由神经网络的操纵器。

REAL-TIME ONLINE FUZZY MODELING FOR ROBOTIC MANIPULATORS

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