Fuzzy neural network control for a single flexible-link manipulator

Research output: Contribution to journalArticlepeer-review


In this article, a fuzzy neural network controller for a single flexible-link manipulator is considered. A backpropagation neural network operating in the specialized learning mode is employed to decrease the effects of the inherent system nonlinearities, like the motor static friction and the saturation of the electronic amplifier. The neural network output resembles that of a Pulse Width Modulated controller. A fuzzy cell space controller supervises the overall scheme and reduces the amplitude and repetitions of control switchings. The fuzzy controller rules are extracted from a rulebase parameterized in terms of the 12 and Ix norms of the output error. Simulation studies are presented to indicate the effectiveness of the proposed algorithm.

Original languageEnglish (US)
Pages (from-to)319-334
Number of pages16
JournalJournal of Intelligent and Fuzzy Systems
Issue number4
StatePublished - 1993

ASJC Scopus subject areas

  • Statistics and Probability
  • General Engineering
  • Artificial Intelligence


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