Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator

Abstract

Refer to this research, a grad ient descent optimization methodology for position fu zzy -model based computed torque controller (GDFCTC) is proposed for highly nonlinear continuum robot man ipulator.The main problem o f the pure co mputed torque controller (CTC) was equivalent problem in uncertain systems.The simulat ion results exhib it that the CTC works well in certain system.To eliminate the continuum robot manipulator system's dynamic; Mamdani fu zzy inference system is design and applied to CTC.Th is methodology is based on applied fu zzy logic in equivalent nonlinear dynamic part to estimate unknown parameters.This relatively controller is mo re plausible to implement in an actual real-t ime when compared to other techniques of nonlinear controller methodology of continuum arms.Based on the gradient descent optimizat ion method, the PD-gain updating factor has been developed in certain and part ly uncertain continuum robots.The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIM ULINK results represent a significant contribution to the field of design an optimized nonlinear co mputed torque controller for continuum robots.