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Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.


Citation

Sulaiman, Nasri and Ramli, Abdul Rahman and Marhaban, Mohammad Hamiruce and Piltan, Farzin (2011) Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. Journal of Advanced Science and Engineering Research, 1 (1). pp. 115-123. ISSN 2231-8844

Abstract

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in the robot manipulator. The PD fuzzy controller is designed as 49 rules Mamdani's error based which the integral error controller is added to the fuzzy controller to get the better performance. One of the most important robust non linear methodologies is sliding mode method. On-line tuning is used in systems with various dynamic parameters, structure and unstructured uncertainties and need to be training on line. Therefore combined adaptive method and hybrid PD fuzzy controllers can solve the uncertainty challenge in nonlinear systems.


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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Keywords: Robot manipulator; Sliding mode methodology; On-line tunable gain; Adaptive controller
Depositing User: Muizzudin Kaspol
Date Deposited: 02 Oct 2014 05:39
Last Modified: 02 Oct 2014 05:39
URI: http://psasir.upm.edu.my/id/eprint/23331
Statistic Details: View Download Statistic

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