Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot
نویسندگان
چکیده
منابع مشابه
Adaptive Control of a Parallel Robot Using Fuzzy Inverse Model
Abstract— The Stewart platform is one example of a parallel manipulator with high force to weight ratio and fine positioning accuracy far exceeding those of a conventional serial-link arm. It is basically a closed-link type robot manipulator having 6 degrees of freedom. In this paper the implementation of an adaptive control scheme based on fuzzy logic theory is used to control the motion of ...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولAdaptive Fuzzy Dynamic Sliding Mode Control of Nonlinear Systems
Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...
متن کاملFuzzy Trajectory Control Design for Underwater Robot
The URV is operated manually with a joystick or automatically with a computer. The automatic control of the underwater robot is a difficult problem due to its nonlinear dynamics. Moreover, the dynamics can change according to the alteration of configuration to be suited to the mission. In order to cope with those difficulties, the control system should be flexible. An interesting review of clas...
متن کاملRobustness design of nonlinear dynamic systems via fuzzy linear control
This study introduces a fuzzy linear control design method for nonlinear systems with optimal H1 robustness performance. First, the Takagi and Sugeno fuzzy linear model is employed to approximate a nonlinear system. Next, based on the fuzzy linear model, a fuzzy controller is developed to stabilize the nonlinear system, and at the same time the effect of external disturbance on control performa...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Intelligent Systems and Applications
سال: 2013
ISSN: 2074-904X,2074-9058
DOI: 10.5815/ijisa.2014.01.12