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| Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator
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Full
text: |
 PDF(214.9KB) |
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Source |
International Journal of Artificial Intelligence and Expert Systems (IJAE) |
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Table of Contents |
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Complete Issue PDF(1.8MB) |
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Volume: 2 Issue: 4 |
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Pages: NULL |
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Publication
Date: September / October 2011 |
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ISSN
(Online): 2180-124X |
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Pages |
184 - 194 |
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Author(s) |
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Published
Date |
05-10-2011 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: Tunable Gain, Robot Manipulator, Fuzzy Logic Controller, On-line Tunable Gain |
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| This Manuscript is indexed in the following databases/websites:- |
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| 1. Scribd |
| 2. Google Scholar |
| 3. Docstoc |
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| In this study, an on-line tunable gain model free PID-like fuzzy controller (GTFLC) is designed for three degrees of freedom (3DOF) robot manipulator to rich the best performance. Fuzzy logic controller is studied because of its model free and high performance. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however non linear classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear non classical robust controller that can used in uncertainty nonlinear systems, are fuzzy logic controller. This paper is focuses on applied mathematical tunable gain method in robust non classical method to reduce the fuzzy logic controller limitations. Therefore on-line tunable PID like fuzzy logic controller will be presented in this paper. |
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Piltan, F., et al., “Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tunable Gain,” International Journal of Robotic and Automation, 2 (3): 205-220, 2011.
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Piltan, F., et al., “Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule Base,” International Journal of Robotic and Automation, 2 (3): 146-156, 2011.
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Piltan, F., et al., “Design of FPGA based sliding mode controller for robot manipulator,” International Journal of Robotic and Automation, 2 (3): 183-204, 2011.
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Piltan, F., et al., “Design a New sliding mode Adaptive Hybrid Fuzzy controller,” Journal of Advanced science and Engineering Research, 1 (1): 115-123, 2011.
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Piltan, F., et al., “Design Artificial Robust Control of Second Order System Based on Adaptive Fuzzy Gain Scheduling,” International Journal of Robotic and Automation, 2 (4): 2011.
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Piltan, F., et al., “Design of Pc-Based Sliding Mode Controller and Normalized Sliding Surface Slope Using PSO Method for Robot Manipulator,” International Journal of Robotic and Automation, 2 (4): 205-220, 2011.
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Piltan, F., et al., “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second order System,” International Journal of Robotic and Automation, 2 (4): 232-244, 2011.
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Piltan, F., et al., “An Adaptive Sliding Surface Slope Adjustment in PD Sliding Mode Fuzzy Control for Robot Manipulator,” International Journal of Control and Automation, 4 (3): 65- 76, 2011.
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| Farzin Piltan : Colleagues
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| N. Sulaiman : Colleagues
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| Arash Zargari : Colleagues
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| Mohammad Keshavarz : Colleagues
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| Ali Badri : Colleagues
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