Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator

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Sanaz Yadegar 1,* Azura binti Che Soh 1

1. Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor, Malaysia

* Corresponding author.


Received: 11 Sep. 2013 / Revised: 2 Jan. 2014 / Accepted: 26 Mar. 2014 / Published: 8 Jul. 2014

Index Terms

Fuzzy Logic Methodology, Sliding Mode Controller, Serial Links Robot Manipulator, Robust Nonlinear Theory, Chattering Phenomenon


In this research parallel Proportional-Derivative (PD) fuzzy logic theory plus Integral part (I) is used to compensate the system dynamic uncertainty controller according to highly nonlinear control theory sliding mode controller. Sliding mode controller (SMC) is an important considerable robust nonlinear controller. In presence of uncertainties, this controller is used to control of highly nonlinear systems especially for multi degrees of freedom (DOF) serial links robot manipulator. In opposition, sliding mode controller is an effective controller but chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain dynamic parameters are two significant drawbacks. To reduce these challenges, new stable intelligent controller is introduce.

Cite This Paper

Sanaz Yadegar, Azura binti Che Soh, "Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.8, pp.19-38, 2014. DOI:10.5815/ijisa.2014.08.03


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