Earticle

초록

영어

Design of a robust controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system can be a challenging work. This research paper focuses on the design and analysis of a high performance PID like fuzzy controller for flexible robot manipulator, in presence of uncertainties. In this research, fuzzy logic controller is a stable nonlinear controller, which selected to control of our nonlinear system. The proposed approach effectively combines of design methods from linear Proportional-Integral-Derivative (PID) controller and fuzzy logic theory to improve the performance, stability and robustness of the flexible robot manipulator. To solve system’s dynamic nonlinearity, the PID fuzzy logic controller is used as a PID like fuzzy logic controller. The PID like fuzzy logic controller is updated based on gain updating factor. In this methodology, fuzzy logic controller is used to estimate the dynamic uncertainties. In this methodology, PID like fuzzy logic controller is evaluated. PID like fuzzy logic controller has three inputs, Proportional (P), Derivative (D), and Integrator (I), if each inputs have 𝑁 linguistic variables to defined the dynamic behavior, it has 𝑁×𝑁×𝑁 linguistic variables. To solve this challenge, parallel structure of a PD-like fuzzy controller and PI-like fuzzy controller is evaluated. In the next step, the challenge of design PI and PD fuzzy rule tables are supposed to be solved. To solve this challenge PID like fuzzy controller is replaced by PD-like fuzzy controller with the integral term in output. This method is caused to design only PD type rule table for PD like fuzzy controller and PI like fuzzy controller.

목차

Abstract
 1. Introduction and Theory
 2. Methodology
 3. Results and Discussion
 4. Conclusions
 Acknowledgment
 References

키워드

저자

• Ghasem Sahamijoo [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
• Omid Avatefipour [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
• Mahmoud Reza Safaei Nasrabad [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
• Mohammad Taghavi [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
• Farzin Piltan [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Advanced Science and Technology

• 간기

  월간

• pISSN

  2005-4238

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605