Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) plus gravity controller is proposed for highly nonlinear continuum robot manipulator. Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. In order to provide high performance in nonlinear systems, switching partly sliding mode plus gravity controller is selected. Pure switching partly sliding mode plus gravity controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. Conversely, this method is used in many applications; it must to solve chattering phenomenon which it can cause some problems such as saturation and heat the mechanical parts of continuum robot manipulators or drivers. In order to solve the chattering phenomenon, implement easily and avoid mathematical model base controller, Mamdani's performance/errorbased fuzzy logic methodology with two inputs and one output and 49 rules is parallel applied to pure switching partly sliding mode plus gravity controller. The results demonstrate that this method is a model-free controllers which works well in certain and partly uncertain system.
Abstract-Refer to this research, a grad ient descent optimization methodology for position fu zzy -model based computed torque controller (GDFCTC) is proposed for highly nonlinear continuum robot man ipulator. The main problem o f the pure co mputed torque controller (CTC) was equivalent problem in uncertain systems. The simulat ion results exhib it that the CTC works well in certain system. To eliminate the continuum robot manipulator system's dynamic; Mamdani fu zzy inference system is design and applied to CTC. Th is methodology is based on applied fu zzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. This relatively controller is mo re plausible to implement in an actual real-t ime when compared to other techniques of nonlinear controller methodology of continuum arms. Based on the gradient descent optimizat ion method, the PD-gain updating factor has been developed in certain and part ly uncertain continuum robots. The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIM ULINK results represent a significant contribution to the field of design an optimized nonlinear co mputed torque controller for continuum robots.
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