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Design PID Estimator Fuzzy Plus Backstepping to Control of Uncertain Continuum Robot
| Citations: | 5 - 5 self |
BibTeX
@MISC{Sadrnia_designpid,
author = {Omid Reza Sadrnia and Farzin Piltan and Mahdi Jafari and Mehdi Eram and Mohammad Shamsodini},
title = {Design PID Estimator Fuzzy Plus Backstepping to Control of Uncertain Continuum Robot},
year = {}
}
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Abstract
The increasing demand for multi-degree-of-freedom (DOF) continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. Compared to conventional robotic manipulators that offer the same motion capabilities, the innovative continuum robot possesses several advantages. Not only can the continuum robot flexible, it has a large range of motion with no singularities in its workspace. This research contributes to the on-going research effort by exploring alternate methods for controlling the continuum robot manipulator. This research addresses two basic issues related to the control of a continuum robots; (1) a more accurate nonlinear controller based on backstepping methodology, and (2) the design of a robust feedback linear plus nonlinear estimator to estimate the highly nonlinear parameters. The robust backstepping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust backstepping controller is designed to achieve this objective. The Proportional Integral Derivative (PID) plus fuzzy estimator is used to solution uncertainty problem. The fuzzy model free problem is formulated to minimize the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.
Keyphrases
continuum robot uncertain continuum robot robust backstepping controller large range robust feedback controller appealing feature accurate nonlinear controller proportional integral derivative lyapunov type stability argument motion capability eventual stability nonlinear formulation on-going research effort position control several advantage fuzzy model free problem continuum robot manipulator basic issue alternate method fuzzy estimator nonlinear estimator robust feedback innovative continuum robot nonlinear methodology conventional robotic manipulator nonlinear parameter uncertainty problem nonlinear dynamic parameter
