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Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic - Couverture souple

ELTHALATHINY, BASEL

 
9783659934476: Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic
Couverture souple
ISBN 10 : 365993447X ISBN 13 : 9783659934476
Editeur : LAP LAMBERT Academic Publishing, 2016

Synopsis

Sliding Mode Controllers possess robustness properties under parameter uncertainties. The ideally zero switching time of the controller output cannot be achieved in digital implementation. This causes a phenomenon called chattering – high frequency oscillations observed in systems state variables. Chattering also shows itself as high amplitude oscillatory behavior in the control signal. A chattering actuator output is not favorable for many plants, including robot manipulators driven by actuator torques. This problem is traditionally solved by smoothing the switching control output, deviating from the original mathematical foundations robustness. This motivates the exploration of automatic tuning approaches which consider chattering and performance simultaneously. This book proposes two SMC smoothing and parameter tuning methods with soft computing (SC) methodologies. The first method is based on Genetic Algorithms (GA). The second SMC parameter tuning method proposed employs a fuzzy logic system to enlarge the applicability range of the controller. The chattering measure and the sliding variable are used as the inputs of this system, which tunes the controller output mechanism.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

Sliding Mode Controllers possess robustness properties under parameter uncertainties. The ideally zero switching time of the controller output cannot be achieved in digital implementation. This causes a phenomenon called chattering – high frequency oscillations observed in systems state variables. Chattering also shows itself as high amplitude oscillatory behavior in the control signal. A chattering actuator output is not favorable for many plants, including robot manipulators driven by actuator torques. This problem is traditionally solved by smoothing the switching control output, deviating from the original mathematical foundations robustness. This motivates the exploration of automatic tuning approaches which consider chattering and performance simultaneously. This book proposes two SMC smoothing and parameter tuning methods with soft computing (SC) methodologies. The first method is based on Genetic Algorithms (GA). The second SMC parameter tuning method proposed employs a fuzzy logic system to enlarge the applicability range of the controller. The chattering measure and the sliding variable are used as the inputs of this system, which tunes the controller output mechanism.

Biographie de l'auteur

Basel ElThalathiny graduated with a M.Sc. Degree in Mechatronics Engineering from Sabanci University, Turkey. Before it, he was enrolled in the Industrial Engineering Master Program too at Sabanci Uni. He's a holder of a B.Sc. Degree in Mechanical Engineering with Triple Specializations and Triple Minors from the American University in Cairo, Egypt

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2016
Langue
anglais
ISBN 10 
365993447X
ISBN 13 
9783659934476
Reliure
Broché
Nombre de pages
88
Coordonnées du fabricant
non disponible
Personne responsable
non disponible