文章基本信息

标题：Adaptive Finite-Time Convergence Fuzzy ARX-Laguerre System Estimation
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作者：Farzin Piltan ; Shahnaz TayebiHaghighi ; Amirzubir Sahamijoo 等
期刊名称：International Journal of Intelligent Systems and Applications
印刷版ISSN：2074-904X
电子版ISSN：2074-9058
出版年度：2019
卷号：11
期号：5
页码：27-35
DOI：10.5815/ijisa.2019.05.04
出版社：MECS Publisher
摘要：Convergence speed for system identification and estimation is a popular topic for determining the kinematics and dynamic identification/estimation of the parameters of robot manipulators. In this paper, adaptive fuzzy inverse dynamic system estimation is used to improve robust modeling, especially for a serial links robot manipulator. The Lyapunov technique is used to analyze the convergence rate of the tracking error and increase the accuracy response of the parameter estimation. Performance of robot estimation is conducted, and the results show fast convergence of the proposed finite time technique for a 6-DOF robot manipulator.
关键词：Finite-time;robot manipulator;fuzzy logic inverse dynamic modeling;parameter estimation;unknown dynamic parameters