Design On-Line Tunable Gain Artificial Nonlinear Controller

One of the most important challenges in nonlinear, multi-input multi-output(MIMO) and time variant systems (e.g., robot manipulator) is designing a controllerwith acceptable performance. This paper focused on design a new artificial nonlinear controller with on line tunable gain applied in the robot manipulator. Thesliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s inferencesystem because it has one input as sliding function and one output as fuzzy slidingfunction (Ufs) which the integral part was added to the sliding function in thepresence of uncertainties and external disturbance to reduce the limitations.Sliding mode controller (SMC) has two most important challenges in uncertainsystems: chattering phenomenon and nonlinear dynamic equivalent part. Applyingthe sliding mode methodology to Mamdani’s fuzzy logic controller with minimumrules was the first goal that caused the stability development. Second target focusedon the elimination of chattering phenomenon with regard to the variety ofuncertainty and external disturbance in fuzzy sliding mode controller by on-lineoptimization the tunable gain.

کلیدواژه ها:

robot manipulator ، artificial nonlinear controller ، on-line tunable gain ، sliding mode controller ، sliding mode fuzzy controller ، chattering phenomenon ، dynamic equivalent part ، on-line optimization