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International Journal of Information Engineering and Electronic Business(IJIEEB)

ISSN: 2074-9023 (Print), ISSN: 2074-9031 (Online)

Published By: MECS Press

IJIEEB Vol.5, No.3, Sep. 2013

Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Full Text (PDF, 334KB), PP.66-77


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Author(s)

ArmanJahed,FarzinPiltan,HosseinRezaie,BamdadBoroomand

Index Terms

Computed Torque Controller;Robot Manipulator;Nonlinear Equivalent Part; Fuzzy Inference System;Compensator

Abstract

Computed torque controller (CTC) 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, computed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem 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 in computed torque controller.

Cite This Paper

ArmanJahed, FarzinPiltan, HosseinRezaie, BamdadBoroomand,"Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", IJIEEB, vol.5, no.3, pp.66-77, 2013. DOI: 10.5815/ijieeb.2013.03.08

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[26]Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki, Payman Ferdosali, “Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control ,” International Journal of Robotics and Automation, 2 (5):360-380, 2011.

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[29]Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame, Abbas Zare, “Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy Sliding Mode Control,” International Journal of Artificial intelligence and Expert System, 2 (5):208-228, 2011.

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[32]Farzin Piltan, Amin Jalali, N. Sulaiman, Atefeh Gavahian, Sobhan Siamak, “Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm ,” International Journal of Robotics and Automation, 2 (5): 298-316, 2011.

[33]Farzin Piltan, N. Sulaiman, Amin Jalali, Koorosh Aslansefat, “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator,” International Journal of Robotics and Automation, 2 (5):317-343, 2011.

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[43]Farzin Piltan, B. Boroomand, A. Jahed and H. Rezaie. ”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, 11: 40-52 2012.

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[54]FarzinPiltan, R. Bayat, F. Aghayari, B. Boroomand. “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller” International Journal of Robotics and Automation, 3(3):151-166, 2012.

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[58]FarzinPiltan, MojdehPiran, Mansour Bazregar, Mehdi Akbari " Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio", International Journal of Intelligent Systems and Applications(IJISA) , 5(2):59-70, 2013.

[59]Farzin Piltan, M. Akbari, M. Piran, M. Bazrega “Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine,” International Journal of Information Technology and Computer Science (IJITCS), 5 (1): 65-76, 2013.

[60]FARZIN PILTAN, MOHAMMADHOSSAIN YARMAHMOUDI, MINA MIRZAIE, SARA EMAMZADEH, ZAHRA HIVAND”Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator ” International Journal of Intelligent Systems and Applications (IJISA), 5(1): 2013.

[61]MANSOUR BAZREGAR, FARZIN PILTAN, ALIREZA NABAEE, MOHAMMAD MAHDI EBRAHIMI”Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems” International Journal of Advanced Science and Technology (IJAST), 51(Feb.): 2013.

[62]FarzinPiltan, ShahnazTayebiHaghighi”Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots” IAES International Journal of Robotics and Automation (IJRA), 1(4): 2013.