Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System.
In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a twodegree- of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its rob...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
2011
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| _version_ | 1796970332341403648 |
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| author | Sulaiman, Nasri Piltan, Farzin Jalali, Amin Narouei, Fereshteh Danesh |
| author_facet | Sulaiman, Nasri Piltan, Farzin Jalali, Amin Narouei, Fereshteh Danesh |
| author_sort | Sulaiman, Nasri |
| collection | UPM |
| description | In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a twodegree-
of freedom robot manipulator to rich the best performance. Computed torque controller is studied
because of its high performance. AFCTC has been also included in this study because of its robust
character and high performance. Besides, this control method can be applied to non-linear systems easily.
Today, robot manipulators are used in unknown and unstructured environment and caused to provide
sophisticated systems, therefore strong mathematical tools are used in new control methodologies to
design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good
trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main
groups: classical and non-classical methods, however both classical and non-classical theories have been
applied successfully in many applications, but they also have some limitation. One of the most important
nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller.
This paper is focuses on applied non-classical method in robust classical method to reduce the limitations.
Therefore adaptive fuzzy computed torque controller will be presented in this paper. |
| first_indexed | 2024-03-06T07:56:28Z |
| format | Article |
| id | upm.eprints-23301 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T07:56:28Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | upm.eprints-233012014-10-07T02:44:52Z http://psasir.upm.edu.my/id/eprint/23301/ Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. Sulaiman, Nasri Piltan, Farzin Jalali, Amin Narouei, Fereshteh Danesh In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a twodegree- of freedom robot manipulator to rich the best performance. Computed torque controller is studied because of its high performance. AFCTC has been also included in this study because of its robust character and high performance. Besides, this control method can be applied to non-linear systems easily. Today, robot manipulators are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools are used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main groups: classical and non-classical methods, however both classical and non-classical theories have been applied successfully in many applications, but they also have some limitation. One of the most important nonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller. This paper is focuses on applied non-classical method in robust classical method to reduce the limitations. Therefore adaptive fuzzy computed torque controller will be presented in this paper. 2011 Article PeerReviewed Sulaiman, Nasri and Piltan, Farzin and Jalali, Amin and Narouei, Fereshteh Danesh (2011) Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. International Journal of Robotics and Automation, 2 (4). pp. 232-244. ISSN 2180-1312 http://www.cscjournals.org/library/manuscriptinfo.php?mc=IJRA-45 English |
| spellingShingle | Sulaiman, Nasri Piltan, Farzin Jalali, Amin Narouei, Fereshteh Danesh Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title | Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title_full | Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title_fullStr | Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title_full_unstemmed | Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title_short | Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System. |
| title_sort | design of model free adaptive fuzzy computed torque controller applied to nonlinear second order system |
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