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
Related Articles
- EP ID EP29506
- DOI -
- Views 403
- Downloads 3
Using Fuzzy decision making for increased reliability in Grid Computing
Grid concept is the extensive network of high computational power that can be connected to the Internet. This network consists of computers and supercomputers that can process data at a very high speed processing. The c...
A study of the impact of psychological contracts on employees’ motivation in ICT offices in Shiraz
Human resource cannot always be predicted based on economic calculations and there are multiple other factors that are originated in supreme human needs in social aspects and self-discovery aspect which have effects in...
A comparison of creativity in popular and unpopular children ages 4-6 in Shiraz
The aim of the present study was exploring the difference in creativity of popular and unpopular children ages 4-6 in the city of Shiraz. The sample group consisted of 200 children ages 4-6 in Shiraz which was finally...
Effects of sport participation on mental health of University students
The purpose of this study was to evaluate the effects of sports participation on mental health in University students. The study suggests that mental health characteristics provide the basis for improving the psychologi...
The possibility of implementing school based curriculum at darab high schools
The present study was carried out attempting to investigate the possibility of implementing school-oriented curriculum at Darab high schools from the perspective of principals and teachers. The research method employed...