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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