Earticle

초록

영어

Computed torque controller (CTC) 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, computed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem 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 in computed torque controller.

목차

Abstract
 1. Introduction
 2. Dynamic Formulation Robot Manipulator
 3. Computed Torque Controller
 4. Intelligent Model-Reference Control
 5. Results and Discussion
 6. Conclusion
 References

키워드

저자

• Mostafa Mirzadeh [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Gholam Hossein Ahrami [ Department of Computer, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Mohammad Haghighi [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Adel Darveshi [ Adel Darveshi1 | Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]
• Saeed Khezri [ Department of Electrical Engineering, Delvar Branch, Islamic Azad University, Delvar, Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of u- and e- Service, Science and Technology

• 간기

  격월간

• pISSN

  2005-4246

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605