Learning multiple fuzzy control for robot manipulators

Keigo Watanabe, Sang Ho Jin, Spyros G. Tzafestas

Research output: Contribution to journalArticlepeer-review


An iterative learning fuzzy controller is proposed for controlling the trajectory of a robot manipulator. The learning controller described here is called a multiple fuzzy controller, in which several elemental fuzzy controllers are processed in parallel, and the degree of usage of each inferred consequent is determined by using a linear neural network. Two learning algorithms are examined in the framework of the specialized learning architecture: one is based on minimizing the squared sum of the trajectory error for each link, and the other is based on directly minimizing the squared trajectory error for each link. The effectiveness of the present control method is illustrated by using some numerical simulations for a two-link manipulator.

Original languageEnglish
Pages (from-to)119-136
Number of pages18
JournalJournal of artificial neural networks
Issue number1-2
Publication statusPublished - Dec 1 1995
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)


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