Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

摘要

Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of h ighly nonlinear systems especially for robot man ipulators, because this controller is a robust and stable. Conversely, co mputed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulat ion in uncertain dynamic parameter. The nonlinear equivalent dynamic formu lation problem in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control comp licated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty in computed torque controller.