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Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of th...

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Main Authors: Sulaiman, Nasri, Piltan, Farzin, Jalali, Amin, Siamak, Sobhan, Nazari, Iman
格式: Article
语言:English
出版: 2011
在线阅读:http://psasir.upm.edu.my/id/eprint/23311/
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spelling my.upm.eprints.233112014-10-07T00:50:21Z http://psasir.upm.edu.my/id/eprint/23311/ Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control. Sulaiman, Nasri Piltan, Farzin Jalali, Amin Siamak, Sobhan Nazari, Iman This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC and proposed method. Simulation results signify good performance of trajectory in presence of uncertainty and external disturbance. 2011 Article PeerReviewed Sulaiman, Nasri and Piltan, Farzin and Jalali, Amin and Siamak, Sobhan and Nazari, Iman (2011) Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control. International Journal of Control and Automation (IJCA), 4 (4). pp. 1-19. ISSN 2005-4297 English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC and proposed method. Simulation results signify good performance of trajectory in presence of uncertainty and external disturbance.
format Article
author Sulaiman, Nasri
Piltan, Farzin
Jalali, Amin
Siamak, Sobhan
Nazari, Iman
spellingShingle Sulaiman, Nasri
Piltan, Farzin
Jalali, Amin
Siamak, Sobhan
Nazari, Iman
Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
author_facet Sulaiman, Nasri
Piltan, Farzin
Jalali, Amin
Siamak, Sobhan
Nazari, Iman
author_sort Sulaiman, Nasri
title Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
title_short Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
title_full Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
title_fullStr Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
title_full_unstemmed Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
title_sort artificial robust control of robot arm: design a novel siso backstepping adaptive lyapunov based variable structure control.
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/23311/
_version_ 1643828020411105280
score 13.250246

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