UPM Institutional Repository

Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC With Tunable Gain.


Sulaiman, Nasri and Piltan, Farzin and Tajpaykar, Zahra and Ferdosali, Payman and Rashidi, Mehdi (2011) Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC With Tunable Gain. International Journal of Robotics and Automation, 2 (3). pp. 195-210. ISSN 2180-1312


One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear robust controller design is major subject in this work. At present, robot manipulators are used in unknown and unstructured situation and caused to provide complicated systems, consequently nonlinear classical controllers are used in artificial intelligence control methodologies to design nonlinear robust controller with satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Sliding mode controller (SMC) and computed torque controller (CTC) are the best nonlinear robust controllers which can be used in uncertainty nonlinear. Sliding mode controller has two most important challenges in uncertain systems: chattering phenomenon and nonlinear dynamic equivalent part. Computed torque controller works very well when all nonlinear dynamic parameters are known. This research is focused on the applied non-classical method (e.g., Fuzzy Logic) in robust classical method (e.g., Sliding Mode Controller and computed torque controller) in the presence of uncertainties and external disturbance to reduce the limitations. Applying the Mamdani’s error based fuzzy logic controller with minimum rules is the first goal that causes the elimination of the mathematical nonlinear dynamic in SMC and CTC. Second target focuses on the elimination of chattering phenomenon with regard to the variety of uncertainty and external disturbance in fuzzy sliding mode controller and computed torque like controller by optimization the tunable gain. Therefore fuzzy sliding mode controller with tunable gain (GTFSMC) and computed torque like controller with tunable gain (GTCTLC) will be presented in this paper.

Download File

Full text not available from this repository.

Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Keywords: Robot Manipulator; Nonlinear Robust Controller; Tunable Gain; Computed Torque Like Controller; Fuzzy Sliding Mode Controller
Depositing User: Muizzudin Kaspol
Date Deposited: 09 Sep 2014 06:34
Last Modified: 09 Sep 2014 06:34
URI: http://psasir.upm.edu.my/id/eprint/23392
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item