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Farzin Piltan
SanatkadeheSabze Pasargad Company
Automotive Engineering Electrical & Electronics Engineering

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Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator Farzin Piltan; Ali Hosainpour; Sara Emamzadeh; Iman Nazari; Mina Mirzaie
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (490.206 KB) | DOI: 10.11591/ijra.v2i4.pp149-162

Abstract

Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.
Co-Authors Ali Hosainpour Iman Nazari Mina Mirzaie Sara Emamzadeh