Control of three-links robot arm based on fuzzy neural Petri nets

A fuzzy neural Petri nets (FNPNs) controller is utilised for controlling a three-links robot arm which considers a nonlinear dynamic system. The incorporation of the classical FNN with a Petri net (PN) has been suggested to produce a new representing system called FNPN structure to alleviate the computation burden. The motion equation of three links robot arm is derived from Lagrange's equation. This equation has been incorporated with the motion equations of DC servo motors which motivate the robot. For nonlinearity dynamic problems, this paper presents a direct adaptive control technique to control three links robot arm utilising the FNPN controller. The computer simulation depicts that the present FNPN controller accomplished better performance with fast response and minimum error.