Design a New Fuzzy Optimize Robust Sliding Surface Gain in Nonlinear Controller

Provided by: mecs-press
Topic: Hardware
Format: PDF
Control of robotic manipulator is very important in field of robotic, because robotic manipulators are Multi-Input Multi-Output (MIMO), nonlinear and most of dynamic parameters are uncertainty. Today, robot manipulators used in unknown and unstructured environment which caused to provides sophisticated systems, therefore strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory and disturbance rejection). One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages therefore this research focuses on the design fuzzy sliding mode controller.

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