Adaptive Control of a Two-Link Flexible Manipulator Using a Type-2 Neural Fuzzy System

This paper presents a simple novel intelligent control scheme. The devised control scheme is a Takagi Sugeno Kang (TSK)- based type-2 neural fuzzy system (NFS) with a self-tuning mechanism optimized via a conjugate gradient (CG) method. Defuzzification phase of the NFS comprises T-norms rather than the conventional product–sum combination. The proposed control scheme is incorporated with a two-link flexible manipulator (TLFM), which belongs to...