Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot

摘要

In this paper, a linear proportional derivative (PD) controller is designed for h ighly nonlinear and uncertain system by using robust factorization approach. To evaluate a linear PD methodology two type methodologies are introduced; sliding mode controller and fu zzy logic methodology. This research aims to design a new methodology to fix the position in continuum robot manipulator. PD method is a linear methodology which can be used for highly nonlinear system's (e.g., continuum robot man ipulator). To estimate this method, new parallel fuzzy slid ing mode controller (PD.FSMC) is used. This estimator can estimate most of nonlinearity terms of dynamic parameters to achieve the best performance. The asymptotic stability of fuzzy PD control with firstorder sliding mode compensation in the parallel structure is proven. For the parallel structure, the fin ite time convergence with a super-twisting second-order sliding-mode is guaranteed.