Design a New Fuzzy Optimize Robust Sliding Surface Gain in Nonlinear Controller
Автор: Mohammad Shamsodini, Rouholla Manei, Ali Bekter, Babak Ranjbar, Samira Soltani
Журнал: International Journal of Intelligent Systems and Applications(IJISA) @ijisa
Статья в выпуске: 12 vol.5, 2013 года.
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Control of robotic manipulator is very important in field of robotic, because robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty. Today, robot manipulators used in unknown and unstructured environment which caused to provides sophisticated systems, therefore strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages therefore this research focuses on the design fuzzy sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope. This paper focuses on adjusting the sliding surface slope in sliding mode fuzzy controller to have the best performance and reduce the limitation.
Classical Control, Non-Classical Control, Fuzzy Logic, Sliding Mode Controller, Sliding Surface Slope, Sliding Mode Fuzzy Controller
Короткий адрес: https://sciup.org/15010503
IDR: 15010503
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