New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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International Science Press
2016
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| Online Access: | http://psasir.upm.edu.my/id/eprint/53376/ http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf |
| _version_ | 1848852266186964992 |
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| author | Yadegar, Sanaz Che Soh, Azura Ahmad, Siti Anom Ishak, Asnor Juraiza |
| author_facet | Yadegar, Sanaz Che Soh, Azura Ahmad, Siti Anom Ishak, Asnor Juraiza |
| author_sort | Yadegar, Sanaz |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, time variant, uncertain dynamic systems and are developed either to replace human work in many fields such as in industrial or in the manufacturing. According to the dynamic formulation of robot manipulators, they are uncertain and have strong coupling effects between joints. To solve this challenge, sliding mode controller is selected since it is robust, stable and it works very well in certain and fairly uncertain condition. Although this controller works incredibly efficient, but still, it has two important challenges, namely the high frequency chattering and working in uncertain situation. To reduce the chattering with respect to stability and robustness; linear controller is added to discontinuous (switching) part of sliding mode controller. In this methodology linear controller is used in parallel with discontinuous part to reduce the role of sliding surface slope and switching (sign) function. To modify chattering free sliding mode controller in uncertain situation PID like fuzzy logic theory is recommended in estimating the robot manipulator's nonlinear dynamic formulation and on-line tuning sliding surface slope.As a result, this controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well.
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| first_indexed | 2025-11-15T10:35:21Z |
| format | Article |
| id | upm-53376 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:35:21Z |
| publishDate | 2016 |
| publisher | International Science Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-533762017-10-25T03:51:57Z http://psasir.upm.edu.my/id/eprint/53376/ New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators Yadegar, Sanaz Che Soh, Azura Ahmad, Siti Anom Ishak, Asnor Juraiza Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, time variant, uncertain dynamic systems and are developed either to replace human work in many fields such as in industrial or in the manufacturing. According to the dynamic formulation of robot manipulators, they are uncertain and have strong coupling effects between joints. To solve this challenge, sliding mode controller is selected since it is robust, stable and it works very well in certain and fairly uncertain condition. Although this controller works incredibly efficient, but still, it has two important challenges, namely the high frequency chattering and working in uncertain situation. To reduce the chattering with respect to stability and robustness; linear controller is added to discontinuous (switching) part of sliding mode controller. In this methodology linear controller is used in parallel with discontinuous part to reduce the role of sliding surface slope and switching (sign) function. To modify chattering free sliding mode controller in uncertain situation PID like fuzzy logic theory is recommended in estimating the robot manipulator's nonlinear dynamic formulation and on-line tuning sliding surface slope.As a result, this controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well. International Science Press 2016 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf Yadegar, Sanaz and Che Soh, Azura and Ahmad, Siti Anom and Ishak, Asnor Juraiza (2016) New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators. International Journal of Control Theory and Application, 9 (5). pp. 2651-2675. ISSN 0974-5572 http://serialsjournals.com/articles.php?volumesno_id=968&journals_id=268&volumes_id=848 |
| spellingShingle | Yadegar, Sanaz Che Soh, Azura Ahmad, Siti Anom Ishak, Asnor Juraiza New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title | New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title_full | New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title_fullStr | New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title_full_unstemmed | New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title_short | New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators |
| title_sort | new methodology of online sliding surface slope tuning pid like fuzzy sliding mode controller for robust control of robot manipulators |
| url | http://psasir.upm.edu.my/id/eprint/53376/ http://psasir.upm.edu.my/id/eprint/53376/ http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf |