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Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator

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Author(s): Farzin Piltan | Mohammad Ali Dialame | Abbas Zare | Ali Badri

Journal: International Journal of Engineering
ISSN 1985-2312

Volume: 6;
Issue: 1;
Start page: 25;
Date: 2012;
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Keywords: Sliding Mode Controller | Fuzzy Logic Methodology | Fuzzy Sliding Mode Controller | Adaptive Methodology | Fuzzy Lookup Table Changed Sliding Mode Controller

ABSTRACT
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller withminimum rule base and good response in presence of structure and unstructured uncertainty ispresented. However sliding mode controller is one of the robust nonlinear controllers but whenthis controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function;caused to be challenged in control. Sliding mode controller in presence of uncertainty has twomost important drawbacks; chattering and nonlinear equivalent part which proposed method issolved these challenges with look up table change methodology. This method is based on selftuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played importantrole to design proposed method. This controller has acceptable performance in presence ofuncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMSerror=0.00017).
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