Design and simulation of Adaptive Neuro Fuzzy Inference System (ANFIS) controller for a robot manipulator

摘要

Research on the dynamic modeling and control of the arms manipulators has received increased attention since the last years due to their advantages. In this present work we present a new approach for a robot manipulator with two degrees of freedom based on the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller to ensure the position robot control strategy, the proposed control scheme is based on the dynamic model derived using Lagrange-Euler formulation. Our robot manipulator ANFIS system control's simulated in Matlab Simulink environment; the results obtained present the efficiency and the robustness of the proposed control with good performances compared with and the FIS method.