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

Hady, S.A.; Ali, A.A.; Breesam, W.I.; Saleh, A.L.; Al-Yasir, Yasir I.A.; Abd-Alhameed, Raed A.

dc.contributor.author	Hady, S.A.
dc.contributor.author	Ali, A.A.
dc.contributor.author	Breesam, W.I.
dc.contributor.author	Saleh, A.L.
dc.contributor.author	Al-Yasir, Yasir I.A.
dc.contributor.author	Abd-Alhameed, Raed A.
dc.date.accessioned	2022-12-11T13:46:39Z
dc.date.accessioned	2023-01-12T16:03:47Z
dc.date.available	2022-12-11T13:46:39Z
dc.date.available	2023-01-12T16:03:47Z
dc.date.issued	2022-11
dc.identifier.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.	en_US
dc.identifier.uri	http://hdl.handle.net/10454/19283
dc.description	Yes	en_US
dc.description.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.	en_US
dc.language.iso	en	en_US
dc.publisher	Inderscience Enterprises Ltd.
dc.relation.isreferencedby	https://doi.org/10.1504/IJAAC.2023.127284	en_US
dc.rights	©2023 Inderscience Enterprises Ltd. Reproduced in accordance with the publisher's self-archiving policy.	en_US
dc.subject	Fuzzy neural Petri net	en_US
dc.subject	FNPN	en_US
dc.subject	Forward adaptive control	en_US
dc.subject	Robot arm control	en_US
dc.title	Control of three-links robot arm based on fuzzy neural Petri nets	en_US
dc.status.refereed	Yes	en_US
dc.date.Accepted	2022
dc.date.application	2022-11-02
dc.type	Article	en_US
dc.date.EndofEmbargo	2023-11-02
dc.type.version	Accepted manuscript	en_US
dc.description.publicnotes	The full-text of this article will be released for public view at the end of the publisher embargo on 2 Nov 2023.	en_US
dc.rights.license	Unspecified	en_US
dc.date.updated	2022-12-11T13:46:41Z
refterms.dateFOA	2023-01-12T16:21:47Z
dc.openaccess.status	embargoedAccess	en_US