Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot

Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot

Автор: Amin Jalali, Farzin Piltan, Mohammadreza Hashemzadeh, Fatemeh BibakVaravi, Hossein Hashemzadeh

Журнал: International Journal of Information Technology and Computer Science(IJITCS) @ijitcs

Статья в выпуске: 12 Vol. 5, 2013 года.

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In this paper, a linear proportional derivative (PD) controller is designed for highly nonlinear and uncertain system by using robust factorization approach. To evaluate a linear PD methodology two type methodologies are introduced; sliding mode controller and fuzzy logic methodology. This research aims to design a new methodology to fix the position in continuum robot manipulator. PD method is a linear methodology which can be used for highly nonlinear system’s (e.g., continuum robot manipulator). To estimate this method, new parallel fuzzy sliding mode controller (PD.FSMC) is used. This estimator can estimate most of nonlinearity terms of dynamic parameters to achieve the best performance. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

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Fuzzy Logic Compensator, Continuum Robot Manipulator, Sliding Mode Control, PD Control Methodology

Короткий адрес: https://sciup.org/15012010

IDR: 15012010

Список литературы Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot

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