基于模糊神经网络的机器人自学习控制

Self-learning control based on fuzzy neural networks for robot manipulator

研究了一种模糊神经网络与传统ＰＤ控制相结合的机器人学习控制系统，该控制系统具有自学习、自适应、控制精度高等特点。

A new self learning controller for the robot manipulators using fuzzy neural network model and PD control is presented. The new system is proposed to improve both accuracy of control and speed of convergence. Simulation results on a two-link robot demonstrate the im-proved performance over the conventional PID control.