Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator
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 non...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Modern Education and Computer Science Publisher
2014
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| Online Access: | http://psasir.upm.edu.my/id/eprint/37001/ http://psasir.upm.edu.my/id/eprint/37001/1/Design%20stable%20robust%20intelligent%20nonlinear%20controller%20for%206.pdf |
| _version_ | 1848848490801659904 |
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| author | Yadegar, Sanaz Che Soh, Azura |
| author_facet | Yadegar, Sanaz Che Soh, Azura |
| author_sort | Yadegar, Sanaz |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-15T09:35:20Z |
| format | Article |
| id | upm-37001 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T09:35:20Z |
| publishDate | 2014 |
| publisher | Modern Education and Computer Science Publisher |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-370012015-10-22T03:32:35Z http://psasir.upm.edu.my/id/eprint/37001/ Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator Yadegar, Sanaz Che Soh, Azura 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. Modern Education and Computer Science Publisher 2014-07 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/37001/1/Design%20stable%20robust%20intelligent%20nonlinear%20controller%20for%206.pdf Yadegar, Sanaz and Che Soh, Azura (2014) Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator. International Journal of Intelligent Systems and Applications, 6 (8). pp. 19-38. ISSN 2074-904X; ESSN: 2074-9058 http://www.mecs-press.org/ijisa/ijisa-v6-n8/v6n8-3.html 10.5815/ijisa.2014.08.03 |
| spellingShingle | Yadegar, Sanaz Che Soh, Azura Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title | Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title_full | Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title_fullStr | Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title_full_unstemmed | Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title_short | Design stable robust intelligent nonlinear controller for 6- DOF serial links robot manipulator |
| title_sort | design stable robust intelligent nonlinear controller for 6- dof serial links robot manipulator |
| url | http://psasir.upm.edu.my/id/eprint/37001/ http://psasir.upm.edu.my/id/eprint/37001/ http://psasir.upm.edu.my/id/eprint/37001/ http://psasir.upm.edu.my/id/eprint/37001/1/Design%20stable%20robust%20intelligent%20nonlinear%20controller%20for%206.pdf |