|
| Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator
|
|
Full
text: |
 PDF(653.2KB) |
|
|
Source |
International Journal of Engineering (IJE) |
|
Table of Contents |
|
|
Download
Complete Issue PDF(3.81MB) |
|
Volume: 6 Issue: 1 |
| |
Pages: NULL |
|
Publication
Date: February 2012 |
|
ISSN
(Online): 1985-2312 |
|
|
|
|
|
Pages |
25 - 41 |
|
Author(s) |
|
|
|
Published
Date |
21-02-2012 |
|
Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
|
ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
Colleague |
| |
|
| |
KEYWORDS: Sliding Mode Controller, Fuzzy Logic Methodology, Fuzzy Sliding Mode Controller, Adaptive Methodology, Fuzzy Lookup Table Changed Sliding Mode Controll |
|
|
| |
|
|
| No
record found |
| |
|
| |
|
|
| Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this 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 two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017). |
| |
|
| |
|
| |
| 1 |
Workgroup on"Texture Analysis of DFG, “TILDA Textile Texture Database” , http://lmb.informatik.uni-freiburg.de/ research/dfg-texture/tilde
|
|
|
| 2 |
P.Brodatz, Textures: A Photographic Album for Artists and Designers , Dover, New York, (1966)
|
|
|
| 3 |
Slotine J. J. E., and W. Li., Applied nonlinear control: Prentice-Hall Inc, 1991.
|
|
|
| 4 |
Piltan Farzin, et al., “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator,” International Journal of Engineering, 5 (5):220-238, 2011.
|
|
|
| 5 |
L.X.Wang, “stable adaptive fuzzy control of nonlinear systems”, IEEE transactions on fuzzy systems, 1(2): 146-154, 1993.
|
|
|
| 6 |
Frank L.Lewis, Robot dynamics and control, in robot Handbook: CRC press, 1999.
|
|
|
| 7 |
Piltan, F., et al., “Evolutionary Design on-line Sliding Fuzzy Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine,” International journal of Engineering Science and Technology, 3 (10): 7301-7308, 2011.
|
|
|
| 8 |
Soltani Samira and Piltan, F. “Design artificial control based on computed torque like controller with tunable gain,” World Applied Science Journal, 14 (9): 1306-1312, 2011.
|
|
|
| 9 |
Piltan, F., et al., “Designing on-line Tunable Gain Fuzzy Sliding Mode Controller using Sliding Mode Fuzzy Algorithm: Applied to Internal Combustion Engine,” World Applied Sciences Journal, 14 (9): 1299-1305, 2011.
|
|
|
| 10 |
Lotfi A. Zadeh” Toward a theory of fuzzy information granulation and its centrality in human easoning and fuzzy logic” Fuzzy Sets and Systems 90 (1997) 111-127
|
|
|
| |
|
| |
|
| |
| |
|
| |
|
| |
| |
|
| |
|
| |
|
| Farzin Piltan : Colleagues
|
|
| Mohammad Ali Dialame : Colleagues
|
|
| Abbas Zare : Colleagues
|
|
| Ali Badri : Colleagues
|
|
