T-S fuzzy model in discrete form and its application to identification of a plane manipulator with two degree of freedom

摘要

T-S models' discrete form for plane manipulator with two-degree freedom is proposed. Identification problem of the T-S models Is discussed. The first step, the system is excited by pseudo-random number sequence in every node, input and output data are recorded, then local linearization equation is identified by method of the least squares in nude. The second step, model identified first step is corrected by Fuzzy-neural network to get it accuracy. An imitation result of the system is proposed.