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Azura binti Che Soh

Work place: Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor, Malaysia

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Research Interests: Robotics, Process Control System

Biography

Azura binti Che Soh received the B.Sc degrees in electronic/computer engineering from University Putra Malaysia in 1998 and M.Sc in electrical and electronic engineering from University Putra Malaysia in 2002. She is a lecture  and research assistant at the department of engineering in university of Putra Malaysia. Her main research interests are in intelligent control system and robotics. Her research projects are about intelligent urban traffic lights control using Dynamic AI Techniques in 2005, design and development of traffic light fault detection system.

Author Articles
Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator

By Sanaz Yadegar Azura binti Che Soh

DOI: https://doi.org/10.5815/ijisa.2014.08.03, Pub. Date: 8 Jul. 2014

In this research parallel Proportional-Derivative (PD) fuzzy logic theory plus Integral part (I) is used to compensate the system dynamic uncertainty controller according to highly nonlinear control theory sliding mode controller. Sliding mode controller (SMC) is an important considerable robust nonlinear controller. In presence of uncertainties, this controller is used to control of highly nonlinear systems especially for multi degrees of freedom (DOF) serial links robot manipulator. In opposition, sliding mode controller is an effective controller but chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain dynamic parameters are two significant drawbacks. To reduce these challenges, new stable intelligent controller is introduce.

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