Amin Jalali; Farzin Piltan; Mohammadreza Hashemzadeh; Fatemeh BibakVaravi; Hossein Hashemzadeh

Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot

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Author(s)

Amin Jalali ^1,* Farzin Piltan ² Mohammadreza Hashemzadeh ³ Fatemeh BibakVaravi ⁴ Hossein Hashemzadeh ⁵

1. Department of Maritime Electronic and Communication Engineering, College of Maritime Engineering, Chabahar University, Iran

2. Research & Development Lab., Electrical and Electronic Engineering Unit, Sanatkadehe Sabze Pasargad (SSP. Co). Shiraz, Iran

3. Department of Electrical Engineering, Fasa Branch, Islamic Azad University, Fars, Iran

4. Shiraz Islamic Azad University, Fars, Iran

5. Department of Information and Technology, Fars Science & Research branch, Islamic Azad University, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijitcs.2013.12.12

Received: 9 Dec. 2012 / Revised: 29 Apr. 2013 / Accepted: 23 Jul. 2013 / Published: 8 Nov. 2013

Index Terms

Fuzzy Logic Compensator, Continuum Robot Manipulator, Sliding Mode Control, PD Control Methodology

Abstract

In this paper, a linear proportional derivative (PD) controller is designed for highly nonlinear and uncertain system by using robust factorization approach. To evaluate a linear PD methodology two type methodologies are introduced; sliding mode controller and fuzzy logic methodology. This research aims to design a new methodology to fix the position in continuum robot manipulator. PD method is a linear methodology which can be used for highly nonlinear system’s (e.g., continuum robot manipulator). To estimate this method, new parallel fuzzy sliding mode controller (PD.FSMC) is used. This estimator can estimate most of nonlinearity terms of dynamic parameters to achieve the best performance. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

Cite This Paper

Amin Jalali, Farzin Piltan, Mohammadreza Hashemzadeh, Fatemeh BibakVaravi, Hossein Hashemzadeh, "Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot", International Journal of Information Technology and Computer Science(IJITCS), vol.5, no.12, pp.97-112, 2013. DOI:10.5815/ijitcs.2013.12.12

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