Sliding mode fuzzy controller applied to robot manipulator
Dissertant
Thesis advisor
Hamad, Basil Mahmud
Abu Hadrus, Iyad Muhammad Ayyub
Comitee Members
Abu Jasir, Asad Nimr Mahmud
al-Aydi, Hatim Ali
University
Islamic University
Faculty
Faculty of Engineering
Department
Electrical Engineering Department
University Country
Palestine (Gaza Strip)
Degree
Master
Degree Date
2014
English Abstract
Sliding Mode Fuzzy Controller (SMFC) which has sliding surface gains is on-line tuned by minimum fuzzy inference algorithm.
The main goal is to guarantee acceptable trajectories tracking between the robot manipulator actual and desired trajectory.
An educational simulation tool objective is to make practical teaching, learning kinematics and dynamic modeling and to apply different controllers on robot manipulator.
Pure Sliding Mode Controller (SMC) and Sliding Mode Fuzzy Controller have difficulty in handling unstructured model uncertainties.
It is possible to solve this problem by combining sliding mode fuzzy controller and fuzzy-based tuning.
Since the sliding surface gain is adjusted by fuzzy based tuning method, the sliding surface slope updating factor of fuzzy-based tuning part can be changed with the changes in error and change of error rate between half to one.
Sliding surface gain is adapted on-line by sliding surface slope updating factor.
In pure sliding mode controller and sliding mode fuzzy controller, the sliding surface gain is chosen by trial and error, which means that pure sliding mode controller and sliding mode fuzzy controller must have a prior knowledge of the system uncertainty.
Fuzzy-based tuning sliding mode fuzzy controller is a model-free stable control for robot manipulator.
It is a one of the best solution to eliminate chattering phenomenon with switching function in structure and unstructured uncertainties.
Main Subjects
Topics
No. of Pages
98
Table of Contents
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Modelling of robot manipulator.
Chapter Three : Pid and fuzzy logic controllers.
Chapter Four : Sliding mode controller.
Chapter Five : Simulation and result.
Chapter Six : Conclusion and future work.
References.
American Psychological Association (APA)
Abu Nada, Muhammad Ali Husayn. (2014). Sliding mode fuzzy controller applied to robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-531345
Modern Language Association (MLA)
Abu Nada, Muhammad Ali Husayn. Sliding mode fuzzy controller applied to robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University. (2014).
https://search.emarefa.net/detail/BIM-531345
American Medical Association (AMA)
Abu Nada, Muhammad Ali Husayn. (2014). Sliding mode fuzzy controller applied to robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-531345
Language
English
Data Type
Arab Theses
Record ID
BIM-531345
