Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC With Tunable Gain.
One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear robust controller design is major subject in this work. At present, robot manip...
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Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
2011
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Online Access: | http://psasir.upm.edu.my/id/eprint/23392/ |
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Summary: | One of the most active research areas in the field of robotics is robot manipulators control, because these
systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear
robust controller design is major subject in this work. At present, robot manipulators are used in unknown
and unstructured situation and caused to provide complicated systems, consequently nonlinear classical
controllers are used in artificial intelligence control methodologies to design nonlinear robust controller with
satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Sliding mode
controller (SMC) and computed torque controller (CTC) are the best nonlinear robust controllers which can
be used in uncertainty nonlinear. Sliding mode controller has two most important challenges in uncertain
systems: chattering phenomenon and nonlinear dynamic equivalent part. Computed torque controller
works very well when all nonlinear dynamic parameters are known. This research is focused on the
applied non-classical method (e.g., Fuzzy Logic) in robust classical method (e.g., Sliding Mode Controller
and computed torque controller) in the presence of uncertainties and external disturbance to reduce the
limitations. Applying the Mamdani’s error based fuzzy logic controller with minimum rules is the first goal
that causes the elimination of the mathematical nonlinear dynamic in SMC and CTC. Second target
focuses on the elimination of chattering phenomenon with regard to the variety of uncertainty and external
disturbance in fuzzy sliding mode controller and computed torque like controller by optimization the tunable
gain. Therefore fuzzy sliding mode controller with tunable gain (GTFSMC) and computed torque like
controller with tunable gain (GTCTLC) will be presented in this paper. |
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