Study on Genetic Fuzzy Wavelet Neural Network Controller of Robotic Manipulator

Yong Lin Wang; Dong Yun Wang

doi:10.4028/www.scientific.net/AMR.605-607.1619

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 605-607Study on Genetic Fuzzy Wavelet Neural Network...

Study on Genetic Fuzzy Wavelet Neural Network Controller of Robotic Manipulator

Abstract:

This paper deals with the tracking controller design of robotic manipulator using genetic algorithm (GA). A genetic fuzzy wavelet neural network (GFWNN) controller is designed and implemented based on MATLAB in this paper, whose parameters are optimized by GA. The structure and algorithm of fuzzy wavelet neural network (FWNN) are described at first. Then the key content of GA used in this paper and the steps for using GA to optimize FWNN are demonstrated. Finally, a numerical simulation of tracking control for 2-link robotic manipulator is given to verify the effectiveness of the proposed method.

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Periodical:

Advanced Materials Research (Volumes 605-607)

Pages:

1619-1624

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.605-607.1619

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Online since:

December 2012

Authors:

Yong Lin Wang, Dong Yun Wang

Keywords:

Fuzzy Wavelet Neural Network, Genetic Algorithm (GA), Robotic Manipulator, Tracking Control

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