The Controller on RBF Fuzzy Neural Network of the Laying Pipe Manipulator

摘要

Aim at the pipe laying manipulator's dynamic properties of multi-input, multi-output, unstable, nonlinear, time-varying and coupling, a new RBF fuzzy neural network based on T-S fuzzy inference model was proposed. The network had simple structure and high training speed, and could adjust the fuzzy rules, and optimized them. The controller of RBF fuzzy neural network could realize the high precision tracking control of the laying pipe manipulator.