Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Автор: ArmanJahed, FarzinPiltan, HosseinRezaie, BamdadBoroomand

Журнал: International Journal of Information Engineering and Electronic Business(IJIEEB) @ijieeb

Статья в выпуске: 3 vol.5, 2013 года.

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Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, computed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty in computed torque controller.

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Computed Torque Controller, Robot Manipulator, Nonlinear Equivalent Part, Fuzzy Inference System, Compensator

Короткий адрес: https://sciup.org/15013188

IDR: 15013188

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