Earticle

초록

영어

Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty so design a high performance controller for these plants is very important. Today, strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages such as nonlinear dynamic uncertainties therefore to design model free sliding mode controller this research focuses on applied fuzzy logic controller in sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope coefficient therefore the second target in this research is design a supervisory controller to adjusting the sliding surface slope in sliding mode fuzzy controller.

목차

Abstract
 1. Introduction
 2. Classical Sliding Mode Methodology
 3. Design the PD Sliding Mode Fuzzy Controller
 4. Mathematical Model free Sliding surface slope coefficient adjustment
 5. Application
 6. Results
 7. Conclusion
 References

키워드

저자

• Farzin Piltan [ Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia ]
• Nasri Sulaiman [ Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia ]
• Samira Soltani [ Industrial Electrical and Electronic Engineering SanatkadeheSabze Pasargad. CO Fourth floor ]
• M. H. Marhaban [ Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia ]
• R. Ramli [ Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605