A Mixed Gaussian Membership Function Fuzzy CMAC for a Three-Link Robot
- Resource Type
- Conference
- Authors
- Huynh, Tuan-Tu; Lin, Chih-Min; Le, Tien-Loc; Zhong, Zhixiong
- Source
- 2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) Fuzzy Systems (FUZZ-IEEE), 2020 IEEE International Conference on. :1-7 Jul, 2020
- Subject
- Bioengineering
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Two dimensional displays
Robots
Hypercubes
Robustness
Fuzzy logic
Nonlinear systems
Electronic mail
Gaussian membership function
fuzzy inference system
CMAC
three-link robot
- Language
- ISSN
- 1558-4739
This research produces a mixed Gaussian membership function (GMF) fuzzy cerebellar model articulation controller (CMAC) for a three-link robot. A mixed GMF is created using the current and the previous GMFs on each layer of CMAC to detect errors efficiently, so a mixed GMF fuzzy CMAC (MGMFFC) is able to train parameters efficiently and constructs the MGMFFC structure automatically. A Lyapunov cost function and the gradient descent techniques are utilized to get the adaptive with guaranteed system’s stable. Simulation studies for a three-link robot show that the MGMFFC attains favorable tracking performance.