Adaptive fuzzy logic with self-tuned membership functions based repetitive learning control of robotic manipulators

Basit Öğe Kaydı
dc.authoridAlcı, Musa/0000-0002-5382-3460
dc.authoridYilmaz, Bayram Melih/0000-0002-6974-8012
dc.authoridTatlicioglu, Enver/0000-0001-5623-9975
dc.authorwosidAlcı, Musa/ABI-3917-2020
dc.contributor.authorYilmaz, B. Melih
dc.contributor.authorTatlicioglu, Enver
dc.contributor.authorSavran, Aydogan
dc.contributor.authorAlci, Musa
dc.date.accessioned2023-01-12T19:54:26Z
dc.date.available2023-01-12T19:54:26Z
dc.date.issued2021
dc.departmentN/A/Departmenten_US
dc.description.abstractWith increasing demand for using robotic manipulators in industrial applications, controllers specific for performing repeatable tasks are required. These controllers must also be robust to model uncertainties. To address this research issue, a repetitive learning control method fused with adaptive fuzzy logic techniques is designed. Specifically, modeling uncertainties are first modeled with a fuzzy logic network and an adaptive fuzzy logic strategy with online tuning is designed. The stability is investigated via Lyapunov type techniques where global uniform ultimate boundedness of closed loop system is guaranteed. Numerical simulation results obtained from a two degree of freedom robot manipulator model and experiments performed on a robot manipulator demonstrate the efficacy of the proposed control methodology. (C) 2021 Elsevier B.V. All rights reserved.en_US
dc.identifier.doi10.1016/j.asoc.2021.107183
dc.identifier.issn1568-4946
dc.identifier.issn1872-9681
dc.identifier.urihttps://doi.org/10.1016/j.asoc.2021.107183
dc.identifier.urihttps://hdl.handle.net/11454/76420
dc.identifier.volume104en_US
dc.identifier.wosWOS:000641373800005en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.relation.ispartofApplied Soft Computingen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectFuzzy approximationen_US
dc.subjectUniversal fuzzy controlleren_US
dc.subjectAdaptive fuzzy logicen_US
dc.subjectRobot manipulatorsen_US
dc.subjectLyapunov methodsen_US
dc.subjectRepetitive learning controlen_US
dc.subjectNeural-Networken_US
dc.subjectDisturbanceen_US
dc.subjectSystemen_US
dc.titleAdaptive fuzzy logic with self-tuned membership functions based repetitive learning control of robotic manipulatorsen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu