International Journal of Information Technology and Computer Science (IJITCS)
IJITCS Vol. 5, No. 11, 8 Oct. 2013
Cover page and Table of Contents: PDF (size: 1285KB)
Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot
Full Text (PDF, 1285KB), PP.111-122
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Author(s)
Farzin Piltan
1,*
Saleh Mehrara
1
Javad Meigolinedjad
1
Reza Bayat
1
Index Terms
Robot Manipulator, Fuzzy Logic Methodology, Variable Structure Control, Linear PD Methodology, Estimator, Fuzzy Variable Structure Estimator
Abstract
In this paper, a PD-serial fuzzy based robust nonlinear estimator for a robot manipulator is proposed by using robust factorization approach. That is, considering the uncertainties of dynamic model consisting of measurement error and disturbances, a PD with fuzzy estimator variable structure nonlinear feedback control scheme is designed to reduce effect of uncertainties. This research aims to design a new methodology to fix the position in robot manipulator. PD method is a linear methodology which can be used for highly nonlinear system’s (e.g., robot manipulator). To estimate this method, new serial fuzzy variable structure method (PD.FVSM) is used. This estimator can estimate the parameters to have the best performance.
Cite This Paper
Farzin Piltan, Saleh Mehrara, Javad Meigolinedjad, Reza Bayat, "Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot", International Journal of Information Technology and Computer Science(IJITCS), vol.5, no.11, pp.111-122, 2013. DOI:10.5815/ijitcs.2013.11.12
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