A Positioning of continuum Robot based on Sliding Mode Boundary Fuzzy Controller
Journal Title: Journal of Science and today’s world - Year 2014, Vol 3, Issue 11
Abstract
Continuum robots as one of the second order systems have extensive range of applications in industry. Control and optimization of these systems seems necessary due to their extensive applications in different domains. Resistance and stability are two important and essential subjects in each control system. Controlling the position of robots is a difficult and challenging task as these non-linear, time-variant systems have uncertain dynamics and have several input and output. The aim of this study is dynamic modeling of continuum robots and optimization of their position using fuzzy sliding mode control so that they can determine proposed routes in different conditions and then select the best position. Fuzzy sliding controller is a non-linear control method that has applications in non-linear systems such as robots. Thus, first, a dynamic model of a continuum robot is simulated, modeled and then fuzzy method is used for its optimization and control in this system so that such systems can have the optimal performance in indeterminate situations.
Authors and Affiliations
Azita Yazdanpanah ,Dr. Abbas ali Rezaee, Dr. Ahmad Faraahi
Keywords
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