Neuro‐fuzzy Elman wavelet control for nonlinear uncertain systems with fuzzy input and unknown fuzzy disturbances: Application to robotics

摘要

Summary Keeping into view the irregular existence of uncertainties and disturbances in nonlinear systems, a novel adaptive control scheme based on neuro‐fuzzy Elman wavelet neural network (NFEWNN) has been proposed in this work which is capable of accurately modeling system uncertainties. In addition to this, an improvement in an evolutionary algorithm named particle swarm optimization has also been introduced to optimize the initial parameters of the controller. Uncertain non‐linear discrete‐time systems in the non‐strict feedback form with unknown disturbances are taken into consideration. This work aims to design an efficient adaptive control scheme for the proposed systems in the case of fuzzy input and fuzzy external disturbance which makes the control of the system more complex and difficult. The proposed NFEWNN control scheme is capable of tracking the desired trajectory successfully along with accurately modeling system uncertainties with high computational power, low computational burden, and rapid convergence rate. The stability of the controller has been proved using Lyapunov theory and guaranteed convergence of the controller is proved. Finally, real‐world applications of the work have been found in robotics. The controller has been implemented on the robotic manipulator and the dynamic model of aerial robotic vehicles to prove its effectiveness and efficiency.