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    Control of three-links robot arm based on fuzzy neural Petri nets

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    Thumbnail
    Publication date
    2022-11
    End of Embargo
    2023-11-02
    Author
    Hady, S.A.
    Ali, A.A.
    Breesam, W.I.
    Saleh, A.L.
    Al-Yasir, Yasir I.A.
    Abd-Alhameed, Raed A.
    Keyword
    Fuzzy neural Petri net
    FNPN
    Forward adaptive control
    Robot arm control
    Rights
    ©2023 Inderscience Enterprises Ltd. Reproduced in accordance with the publisher's self-archiving policy.
    Peer-Reviewed
    Yes
    Open Access status
    embargoedAccess
    
    Metadata
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    Abstract
    A fuzzy neural Petri Nets (FNPN) controller is utilized for controlling a three-links robot arm which considers a nonlinear dynamic system. The incorporation of the classical FNN with a Petri net (PN) has been suggested to produce a new representing system called FNPN structure to alleviate the computation burden. The motion equation of three links robot arm is derived from Lagrange’s equation. This equation has been incorporated with the motion equations of DC Servo motors which motivate the robot. For nonlinearity dynamic problems, this paper presents a direct adaptive control technique to control three links robot arm utilizing the FNPN controller. The computer simulation depicts that the present FNPN controller accomplished better performance with fast response and minimum error.
    URI
    http://hdl.handle.net/10454/19283
    Version
    Accepted manuscript
    Citation
    Hady SA, Ali AA, Breesam WI et al (2022) Control of three-links robot arm based on fuzzy neural Petri nets. International Journal of Automation and Control. 17(1): 116-131.
    Link to publisher’s version
    https://doi.org/10.1504/IJAAC.2023.127284
    Type
    Article
    Notes
    The full-text of this article will be released for public view at the end of the publisher embargo on 2 Nov 2023.
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    Engineering and Informatics Publications

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