Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System

Abstract

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.

Design New Intelligent PID like Fuzzy Backstepping Controller

“…However, since joints coupling is neglected, control performance degrades as operating speed increases and a manipulator controlled in this way is only appropriate for relatively slow motion [44,46]. The fast motion requirement results in even higher dynamic coupling between the various robot joints, which cannot be compensated for by a standard robot controller such as PID [50], and hence model-based control becomes the alternative. Conversely pure backstepping controller is a highquality nonlinear controller; it has an important problem; nonlinear equivalent dynamic formulation in uncertain dynamic parameter and partly uncertain system.…”

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

“…However, since joints coupling is neglected, control performance degrades as operating speed increases and a manipulator controlled in this way is only appropriate for relatively slow motion [44,46]. The fast motion requirement results in even higher dynamic coupling between the various robot joints, which cannot be compensated for by a standard robot controller such as PID [50], and hence model-based control becomes the alternative.…”

“…At present, in some applications robot arms are used in unknown and unstructured environment, therefore strong mathematical tools used in new control methodologies to design nonlinear robust controller with an acceptable safety performance (e.g., minimum error, good trajectory, disturbance rejection). According to the control theory, Although the fuzzy-logic control is not a new technique, its application in this current research is considered to be novel since it aimed for an automated dynamic-less response rather than for the traditional objective of uncertainties compensation [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57]. The intelligent tracking control using the fuzzy-logic technique provides a cost-and-time efficient control implementation due to the automated dynamic-less input.…”

Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator

“…Th is control problem is classified into two main groups. Firstly, transformation the desired motion ( ) to joint variable ( ) by inverse kinemat ics of robot manipulators [34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50]. This control include simple PD control, PID control, inverse dynamic control, Lyapunov-based control, and passivity based control that explained them in the following section.…”

“…There are several methods for controlling a robot manipulator, which all of them follow t wo co mmon goals, namely, hardware/software imp lementation and acceptable performance. Ho wever, the mechanical design of robot man ipulator is very important to select the best controller but in general two types schemes can be presented, namely, a joint space control schemes and an operation space control schemes [49][50][51][52][53][54][55]. Joint space and operational space control are closed loop controllers which they have been used to provide robustness and rejection of disturbance effect.…”