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Fuzzy Control and Fuzzy Control Adaptive of a Robot Manipulator

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Abstract:

This study presents an investigation on trajectory control of a robot using fuzzy control and adaptive fuzzy control. We considered initially fuzzy controller of Mamdani type then to equip the proposed control scheme with adaptive controller, we have replaced the fuzzy regulators of Mamdani type by those of Seguno type in order to project the latter in neural networks, thus determining suitable fuzzy control rules and membership functions. We have synthesized two adaptive fuzzy controllers; Neural-fuzzy controller and Neural-fuzzy controller by model of reference.

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