Adaptive Finite-Time Convergence Fuzzy ARXLaguerre System Estimation

Farzin Piltan, Shahnaz TayebiHaghighi, Amirzubir Sahamijoo, Hossein Rashidi Bod, Somayeh Jowkar, Jong-Myon Kim
2019 International Journal of Intelligent Systems and Applications  
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
more » ... robot estimation is conducted, and the results show fast convergence of the proposed finite time technique for a 6-DOF robot manipulator. Index Terms-Finite-time, robot manipulator, fuzzy logic inverse dynamic modeling, parameter estimation, unknown dynamic parameters.
doi:10.5815/ijisa.2019.05.04 fatcat:nlwzcsseqbholna5os3d7nhrwy