Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot | Zendy

Farzin Piltan | Zendy; Saleh Mehrara | Zendy; Javad Meigolinedjad | Zendy; Reza Bayat | Zendy

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Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot

Author(s) -

Farzin Piltan,

Saleh Mehrara,

Javad Meigolinedjad,

Reza Bayat

Publication year - 2013

Publication title -

international journal of information technology and computer science

Language(s) - English

Resource type - Journals

eISSN - 2074-9015

pISSN - 2074-9007

DOI - 10.5815/ijitcs.2013.11.12

Subject(s) - control theory (sociology) , estimator , computer science , fuzzy logic , nonlinear system , serial manipulator , variable (mathematics) , controller (irrigation) , robot , fuzzy control system , control engineering , parallel manipulator , mathematics , control (management) , artificial intelligence , engineering , statistics , physics , quantum mechanics , agronomy , biology , mathematical analysis

In this paper, a PD-serial fuzzy based robust nonlinear estimator for a robot manipulator is proposed by using robust factorization approach. That is, considering the uncertainties of dynamic model consisting of measurement error and disturbances, a PD with fuzzy estimator variable structure nonlinear feedback control scheme is designed to reduce effect of uncertainties. This research aims to design a new methodology to fix the position in robot manipulator. PD method is a linear methodology which can be used for highly nonlinear system’s (e.g., robot manipulator). To estimate this method, new serial fuzzy variable structure method (PD.FVSM) is used. This estimator can estimate the parameters to have the best performance

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