Design Intelligent Robust Back stepping Controller

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Author(s)

Zahra Esmaieli 1 Farzin Piltan 1,* Meysam Kazeminasab 1 Ali Reza Salehi 1 Mahdi Mirshekaran 1

1. Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz/Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijmecs.2014.01.06

Received: 25 Oct. 2013 / Revised: 20 Nov. 2013 / Accepted: 2 Dec. 2013 / Published: 8 Jan. 2014

Index Terms

Fuzzy logic theories, modified PD control, continuum robot manipulator, backstopping control

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. The robust backstopping 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 backstopping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation based on modified PD backstopping controller. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to estimate the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

Cite This Paper

Zahra Esmaieli, Farzin Piltan, Meysam Kazeminasab, Ali Reza Salehi, Mahdi Mirshekaran, "Design Intelligent Robust Back stepping Controller", International Journal of Modern Education and Computer Science (IJMECS), vol.6, no.1, pp.53-64, 2014. DOI:10.5815/ijmecs.2014.01.06

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