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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.5, No.5, Apr. 2013

Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator

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Author(s)

Farzin Piltan, MohammadHossain Yarmahmoudi, Mina Mirzaie, Sara Emamzadeh, Zahra Hivand

Index Terms

Fuzzy Sliding Feedback Linearization Controller;Feedback Linearization Controller;Fuzzy Logic Methodology;Sliding Mode Method;Robot Manipulator

Abstract

First three degree of six degree of freedom robotic manipulator is controlled by a new fuzzy sliding feedback linearization controller. The robot arm has six revolute joints allowing the corresponding links to move horizontally. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system’s dynamic model. The work outline in this research utilizes soft computing applied to new conventional controller to address these methodology issues. Feedback linearization controller (FLC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known FLC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback linearization controller (FFLC) reduce this kind of limitation. Fuzzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a MATLAB based area. To increase the stability and robustness new mathematical switching sliding mode methodology is applied to FFLC. Based on this research model free mathematical tunable gain new sliding switching feedback linearization controller applied to robot manipulator is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.

Cite This Paper

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), vol.5, no.5, pp.1-10, 2013.DOI: 10.5815/ijisa.2013.05.01

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