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Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.

Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in i...

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Main Authors: Sulaiman, Nasri, Piltan, Farzin, Nasiri, Hajar, Allahdadi, Sadeq, Bairami, Mohamad Amin
Format: Article
Language:English
Published: 2011
Online Access:http://psasir.upm.edu.my/id/eprint/23316/
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spelling my.upm.eprints.233162014-10-03T02:38:06Z http://psasir.upm.edu.my/id/eprint/23316/ Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method. Sulaiman, Nasri Piltan, Farzin Nasiri, Hajar Allahdadi, Sadeq Bairami, Mohamad Amin Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in inverse dynamic controller, fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. The main objective in this research is analyses and design of the adaptive robust controller based on artificial intelligence and nonlinear control. Robot manipulator is nonlinear, time variant and a number of parameters are uncertain, so design the best controller for this plant is the main target. Although inverse dynamic controller have acceptable performance with known dynamic parameters but regarding to uncertainty, this controller's output has fairly fluctuations. In order to solve this problem this research is focoused on two methodology the first one is design a fuzzy inference system as a estimate nonlinear part of main controller but this method caused to high computation load in fuzzy rule base and the second method is focused on design novel adaptive method to reduce the computation in fuzzy algorithm. 2011 Article PeerReviewed Sulaiman, Nasri and Piltan, Farzin and Nasiri, Hajar and Allahdadi, Sadeq and Bairami, Mohamad Amin (2011) Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method. International Journal of Engineering, 5 (5). pp. 399-418. ISSN 1985-2312 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 Refer to the research, design a novel SISO adaptive fuzzy sliding algorithm inverse dynamic like method (NAIDLC) and application to robot manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in inverse dynamic controller, fuzzy logic controller and self tuning fuzzy sliding method, the output has improved. The main objective in this research is analyses and design of the adaptive robust controller based on artificial intelligence and nonlinear control. Robot manipulator is nonlinear, time variant and a number of parameters are uncertain, so design the best controller for this plant is the main target. Although inverse dynamic controller have acceptable performance with known dynamic parameters but regarding to uncertainty, this controller's output has fairly fluctuations. In order to solve this problem this research is focoused on two methodology the first one is design a fuzzy inference system as a estimate nonlinear part of main controller but this method caused to high computation load in fuzzy rule base and the second method is focused on design novel adaptive method to reduce the computation in fuzzy algorithm.
format Article
author Sulaiman, Nasri
Piltan, Farzin
Nasiri, Hajar
Allahdadi, Sadeq
Bairami, Mohamad Amin
spellingShingle Sulaiman, Nasri
Piltan, Farzin
Nasiri, Hajar
Allahdadi, Sadeq
Bairami, Mohamad Amin
Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
author_facet Sulaiman, Nasri
Piltan, Farzin
Nasiri, Hajar
Allahdadi, Sadeq
Bairami, Mohamad Amin
author_sort Sulaiman, Nasri
title Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
title_short Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
title_full Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
title_fullStr Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
title_full_unstemmed Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method.
title_sort novel robot manipulator adaptive artificial control: design a novel siso adaptive fuzzy sliding algorithm inverse dynamic like method.
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/23316/
_version_ 1643828021935734784
score 13.211869

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