Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Автор: Iman Nazari, Ali Hosainpour, Farzin Piltan, Sara Emamzadeh, Mina Mirzaie

Журнал: International Journal of Intelligent Systems and Applications(IJISA) @ijisa

Статья в выпуске: 4 vol.6, 2014 года.

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Sliding mode controller (SMC) 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, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon 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.

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Sliding Mode Controller, Robot Manipulator, Chattering Phenomenon, Fuzzy Inference System, Compensator

Короткий адрес: https://sciup.org/15010550

IDR: 15010550

Список литературы Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

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Farzin Piltan, S. Mehrara, R. Bayat and S. Rahmdel. ” Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology”, International Journal of Hybrid Information Technology, 5(4):41-54, 2012.
AH Aryanfar, MR Khammar, Farzin Piltan, “Design a robust self-tuning fuzzy sliding mode control for second order systems”, International Journal of Engineering Science REsearch, 3(4): 711-717, 2012.
Farzin Piltan, Shahnaz Tayebi Haghighi, “Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots”, International Journal of Robotics and Automation, 1(4): 175-189, 2012.
Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, 5(8), 2013.
Farzin Piltan, M. Akbari, M. Piran , M. Bazregar. ”Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine”, International Journal of Information Technology and Computer Science, 01:65-73, 2013.
Farzin Piltan, M. Piran , M. Bazregar, M. Akbari, “Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio”, International Journal of Intelligent Systems and Applications, 02: 59-70, 2013.
Farzin Piltan, M. Mansoorzadeh, M. Akbari, S. Zare, F. ShahryarZadeh “Management of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine“ Global Journal of Biodiversity Science And Management, 3(1), 2013.

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