Sanaz Yadegar

Work place: Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor, Malaysia

E-mail: yadegarsanaz@gmail.com

Website:

Research Interests: Computer systems and computational processes, Artificial Intelligence, Process Control System

Biography

Sanaz Yadegar received her B.Sc from Islamic Azad university of Iran in 2009. She is student in master of control & automation of engineering in University Putra Malaysia. Her research in bachelor was about Magnetic Position Detectors. Her main research interests are in artificial intelligence and control system.

Author Articles
Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator

By Sanaz Yadegar Azura binti Che Soh

DOI: https://doi.org/10.5815/ijisa.2014.08.03, Pub. Date: 8 Jul. 2014

In this research parallel Proportional-Derivative (PD) fuzzy logic theory plus Integral part (I) is used to compensate the system dynamic uncertainty controller according to highly nonlinear control theory sliding mode controller. Sliding mode controller (SMC) is an important considerable robust nonlinear controller. In presence of uncertainties, this controller is used to control of highly nonlinear systems especially for multi degrees of freedom (DOF) serial links robot manipulator. In opposition, sliding mode controller is an effective controller but chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain dynamic parameters are two significant drawbacks. To reduce these challenges, new stable intelligent controller is introduce.

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