Design Intelligent Robust Partly Linear Term SMC for Robot Manipulator Systems

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Author(s)

AliReza Nabaee 1,* Farzin Piltan 1 MohammadMahdi Ebrahimi 1 Mansour Bazregar 1

1. Research and Development Department, Artificial Control and Robotics Lab., Institute of Advance Science and Technology-SSP, Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.06.07

Received: 15 Sep. 2013 / Revised: 10 Jan. 2014 / Accepted: 4 Feb. 2014 / Published: 8 May 2014

Index Terms

Continuum Robot Manipulator, Parallel Fuzzy-Optimization Control, Robust Control, Sliding Mode Control, Adaptive Methodology, PD Modified Switching Sliding Mode Controller

Abstract

In this paper the development, modeling and high precision robust control of an electro-mechanical continuum robot manipulator is presented. In this paper main controller is a Sliding Mode Controller which modified by modified PD methodology based on the boundary derivative methodology. Parallel fuzzy logic theory is used to compensate the system dynamic uncertainty controller based on sliding mode theory. Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for continuum robot manipulator, because this controller is robust and stable in presence of partly uncertainties. PD partly switching nonlinear SMC by modified PD boundary derivative method is used to achieve a stable tracking, while the parallel fuzzy-logic optimization added intelligence to the control system through an automatic tuning of the PD modified partly switching sliding mode methodology uncertainties. Adaptive methodology is used to on-line tuning the sliding surface slope and gain updating factor of this methodology. Simulation results demonstrated the validity of the Mamdani parallel fuzzy-optimization control with asymptotic and stable tracking at different position inputs. This compensation demonstrated a well synchronized control signal at different excitation conditions.

Cite This Paper

AliReza Nabaee, Farzin Piltan, MohammadMahdi Ebrahimi, Mansour Bazregar, "Design Intelligent Robust Partly Linear Term SMC for Robot Manipulator Systems", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.6, pp.58-71, 2014. DOI:10.5815/ijisa.2014.06.07

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