Design Robust Artificial Intelligence Model-base Variable Structure Controller with Application to Dynamic Uncertainties OCTAM VI Continuum Robot

Provided by: Science & Engineering Research Support soCiety (SERSC)
Topic: Enterprise Software
Format: PDF
Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a robust chattering free mathematical model-base artificial intelligence (fuzzy inference system) variable structure controller (MFVSC) for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, variable structure controller is selected. Pure variable structure controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator.

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