Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot
TLDR
The asymptotic stability of fuzzy PD control with first- order sliding mode compensation in the parallel structure is proven and the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.Abstract:
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.read more
Citations
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Journal ArticleDOI
Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller
TL;DR: This paper analyses the modified PID FSMC controllers based on minimum rule base for flexible robot manipulator system and test the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
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Design New Robust Self Tuning Fuzzy Backstopping Methodology
Omid Avatefipour,Farzin Piltan,Mahmoud Reza Safaei Nasrabad,Ghasem Sahamijoo,Alireza Khalilian +4 more
TL;DR: Adaptive SISO PI like fuzzy adaptive backstopping fuzzy method has two main objectives; the first objective is design a SISO fuzzy system to compensate for the model uncertainties of the system, and the second objective is focused on the designPI like fuzzy controller based on PD method as an adaptive methodology.
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Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor
TL;DR: This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Journal ArticleDOI
Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor
TL;DR: In this research the nonlinear equivalent dynamic (equivalent part) formulation problem in uncertain condition is also solved by combine pure fuzzy logic control and feedback linearization method.
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Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor
TL;DR: This research is used to reduce or eliminate the fuzzy and conventional sliding mode controller problem based on minimum rule base fuzzy logic theory and modified it by sliding mode method to control of spherical motor system.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
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Modern control engineering
TL;DR: This comprehensive treatment of the analysis and design of continuous-time control systems provides a gradual development of control theory and shows how to solve all computational problems with MATLAB.
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Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
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Springer Handbook of Robotics
Bruno Siciliano,Oussama Khatib +1 more
TL;DR: The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications.
Journal ArticleDOI
Adaptive control of robot manipulator using fuzzy compensator
Byung Kook Yoo,Woon Chul Ham +1 more
TL;DR: Two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties are presented and the proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance.