Cover Image

New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators

Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, t...

Full description

Saved in:
Bibliographic Details
Main Authors: Yadegar, Sanaz, Che Soh, Azura, Ahmad, Siti Anom, Ishak, Asnor Juraiza
Format: Article
Language:English
Published: International Science Press 2016
Online Access:http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf
http://psasir.upm.edu.my/id/eprint/53376/
http://serialsjournals.com/articles.php?volumesno_id=968&journals_id=268&volumes_id=848
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.upm.eprints.53376
record_format eprints
spelling my.upm.eprints.533762017-10-25T03:51:57Z http://psasir.upm.edu.my/id/eprint/53376/ New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators Yadegar, Sanaz Che Soh, Azura Ahmad, Siti Anom Ishak, Asnor Juraiza Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, time variant, uncertain dynamic systems and are developed either to replace human work in many fields such as in industrial or in the manufacturing. According to the dynamic formulation of robot manipulators, they are uncertain and have strong coupling effects between joints. To solve this challenge, sliding mode controller is selected since it is robust, stable and it works very well in certain and fairly uncertain condition. Although this controller works incredibly efficient, but still, it has two important challenges, namely the high frequency chattering and working in uncertain situation. To reduce the chattering with respect to stability and robustness; linear controller is added to discontinuous (switching) part of sliding mode controller. In this methodology linear controller is used in parallel with discontinuous part to reduce the role of sliding surface slope and switching (sign) function. To modify chattering free sliding mode controller in uncertain situation PID like fuzzy logic theory is recommended in estimating the robot manipulator's nonlinear dynamic formulation and on-line tuning sliding surface slope.As a result, this controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well. International Science Press 2016 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf Yadegar, Sanaz and Che Soh, Azura and Ahmad, Siti Anom and Ishak, Asnor Juraiza (2016) New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators. International Journal of Control Theory and Application, 9 (5). pp. 2651-2675. ISSN 0974-5572 http://serialsjournals.com/articles.php?volumesno_id=968&journals_id=268&volumes_id=848
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 Designing a robust controller for uncertain multi input-multi output (MIMO) nonlinear dynamical system (e.g., robot manipulator) can be a challenging work in this research. Robot manipulators are set of links which connected by joints, they are multiple-input and multiple-output (MIMO), nonlinear, time variant, uncertain dynamic systems and are developed either to replace human work in many fields such as in industrial or in the manufacturing. According to the dynamic formulation of robot manipulators, they are uncertain and have strong coupling effects between joints. To solve this challenge, sliding mode controller is selected since it is robust, stable and it works very well in certain and fairly uncertain condition. Although this controller works incredibly efficient, but still, it has two important challenges, namely the high frequency chattering and working in uncertain situation. To reduce the chattering with respect to stability and robustness; linear controller is added to discontinuous (switching) part of sliding mode controller. In this methodology linear controller is used in parallel with discontinuous part to reduce the role of sliding surface slope and switching (sign) function. To modify chattering free sliding mode controller in uncertain situation PID like fuzzy logic theory is recommended in estimating the robot manipulator's nonlinear dynamic formulation and on-line tuning sliding surface slope.As a result, this controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well.
format Article
author Yadegar, Sanaz
Che Soh, Azura
Ahmad, Siti Anom
Ishak, Asnor Juraiza
spellingShingle Yadegar, Sanaz
Che Soh, Azura
Ahmad, Siti Anom
Ishak, Asnor Juraiza
New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
author_facet Yadegar, Sanaz
Che Soh, Azura
Ahmad, Siti Anom
Ishak, Asnor Juraiza
author_sort Yadegar, Sanaz
title New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
title_short New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
title_full New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
title_fullStr New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
title_full_unstemmed New methodology of online sliding surface slope tuning PID like fuzzy sliding mode controller for robust control of robot manipulators
title_sort new methodology of online sliding surface slope tuning pid like fuzzy sliding mode controller for robust control of robot manipulators
publisher International Science Press
publishDate 2016
url http://psasir.upm.edu.my/id/eprint/53376/1/New%20methodology%20of%20online%20sliding%20surface%20slope%20tuning%20PID%20like%20fuzzy%20sliding.pdf
http://psasir.upm.edu.my/id/eprint/53376/
http://serialsjournals.com/articles.php?volumesno_id=968&journals_id=268&volumes_id=848
_version_ 1643835377940692992
score 13.211869

Similar Items