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Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in t...

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Main Authors: Sulaiman, Nasri, Ramli, Abdul Rahman, Marhaban, Mohammad Hamiruce, Piltan, Farzin
Format: Article
Language:English
Published: 2011
Online Access:http://psasir.upm.edu.my/id/eprint/23331/
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spelling my.upm.eprints.233312014-10-02T05:39:14Z http://psasir.upm.edu.my/id/eprint/23331/ Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. Sulaiman, Nasri Ramli, Abdul Rahman Marhaban, Mohammad Hamiruce Piltan, Farzin One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in the robot manipulator. The PD fuzzy controller is designed as 49 rules Mamdani's error based which the integral error controller is added to the fuzzy controller to get the better performance. One of the most important robust non linear methodologies is sliding mode method. On-line tuning is used in systems with various dynamic parameters, structure and unstructured uncertainties and need to be training on line. Therefore combined adaptive method and hybrid PD fuzzy controllers can solve the uncertainty challenge in nonlinear systems. 2011 Article PeerReviewed Sulaiman, Nasri and Ramli, Abdul Rahman and Marhaban, Mohammad Hamiruce and Piltan, Farzin (2011) Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller. Journal of Advanced Science and Engineering Research, 1 (1). pp. 115-123. ISSN 2231-8844 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 One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focuses on design a new sliding mode on-line tunable gain hybrid fuzzy control (SMHFLC) applied in the robot manipulator. The PD fuzzy controller is designed as 49 rules Mamdani's error based which the integral error controller is added to the fuzzy controller to get the better performance. One of the most important robust non linear methodologies is sliding mode method. On-line tuning is used in systems with various dynamic parameters, structure and unstructured uncertainties and need to be training on line. Therefore combined adaptive method and hybrid PD fuzzy controllers can solve the uncertainty challenge in nonlinear systems.
format Article
author Sulaiman, Nasri
Ramli, Abdul Rahman
Marhaban, Mohammad Hamiruce
Piltan, Farzin
spellingShingle Sulaiman, Nasri
Ramli, Abdul Rahman
Marhaban, Mohammad Hamiruce
Piltan, Farzin
Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
author_facet Sulaiman, Nasri
Ramli, Abdul Rahman
Marhaban, Mohammad Hamiruce
Piltan, Farzin
author_sort Sulaiman, Nasri
title Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
title_short Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
title_full Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
title_fullStr Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
title_full_unstemmed Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller.
title_sort design a new sliding mode adaptive hybrid fuzzy controller.
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/23331/
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score 13.211869

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