Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
2011
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| Online Access: | http://psasir.upm.edu.my/id/eprint/23331/ |
| _version_ | 1848844728301256704 |
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| author | Sulaiman, Nasri Ramli, Abdul Rahman Marhaban, Mohammad Hamiruce Piltan, Farzin |
| author_facet | Sulaiman, Nasri Ramli, Abdul Rahman Marhaban, Mohammad Hamiruce Piltan, Farzin |
| author_sort | Sulaiman, Nasri |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in the robot manipulator. The PD fuzzy controller is designed as 49 rules Mamdani's error based which the integral error controller is added to the fuzzy controller to get the better performance. One of the most important robust non linear methodologies is sliding mode method. On-line tuning is used in systems with various dynamic parameters, structure and unstructured uncertainties and need to be training on line. Therefore combined adaptive method and hybrid PD fuzzy controllers can solve the uncertainty challenge in nonlinear systems. |
| first_indexed | 2025-11-15T08:35:32Z |
| format | Article |
| id | upm-23331 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T08:35:32Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-233312014-10-02T05:39:14Z http://psasir.upm.edu.my/id/eprint/23331/ Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. Sulaiman, Nasri Ramli, Abdul Rahman Marhaban, Mohammad Hamiruce Piltan, Farzin One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in the robot manipulator. The PD fuzzy controller is designed as 49 rules Mamdani's error based which the integral error controller is added to the fuzzy controller to get the better performance. One of the most important robust non linear methodologies is sliding mode method. On-line tuning is used in systems with various dynamic parameters, structure and unstructured uncertainties and need to be training on line. Therefore combined adaptive method and hybrid PD fuzzy controllers can solve the uncertainty challenge in nonlinear systems. 2011 Article PeerReviewed Sulaiman, Nasri and Ramli, Abdul Rahman and Marhaban, Mohammad Hamiruce and Piltan, Farzin (2011) Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. Journal of Advanced Science and Engineering Research, 1 (1). pp. 115-123. ISSN 2231-8844 English |
| spellingShingle | Sulaiman, Nasri Ramli, Abdul Rahman Marhaban, Mohammad Hamiruce Piltan, Farzin Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title | Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title_full | Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title_fullStr | Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title_full_unstemmed | Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title_short | Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. |
| title_sort | design a new sliding mode adaptive hybrid fuzzy controller. |
| url | http://psasir.upm.edu.my/id/eprint/23331/ |