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Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System.


Sulaiman, Nasri and Piltan, Farzin and Jalali, Amin and Narouei, Fereshteh Danesh (2011) Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. International Journal of Robotics and Automation, 2 (4). pp. 232-244. ISSN 2180-1312


In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a twodegree- of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper.

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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Keywords: Adaptive Fuzzy Computed Torque Controller, Robot Manipulator, Classical Control, Non-classical Control, Computed Torque Controller
Depositing User: Muizzudin Kaspol
Date Deposited: 07 Oct 2014 02:44
Last Modified: 07 Oct 2014 02:44
URI: http://psasir.upm.edu.my/id/eprint/23301
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