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영어

The focus of this research is on the development, modeling and high precision robust control of an electro-mechanical continuum robot manipulator that serves as a sensing and motion system for hybrid testing. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty controller based on sliding mode theory. This design resulted in strongly non-linear and coupled dynamics as well as an inertial moving platform that attracted model-based control strategies. A novel non-linear control technique based on sliding mode Lyapunov based was selected to meet the multiple simultaneous specification control of nonlinear, uncertain and asymptotic tracking. Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for continuum robot manipulator, because this controller is robust and stable in presence of partly uncertainties. Sliding mode controller was used to achieve a stable tracking, while the parallel fuzzy-logic optimization added intelligence to the control system through an automatic tuning of the sliding mode methodology uncertainties. Simulation results demonstrated the validity of the Mamdani parallel fuzzy-optimization control with asymptotic and stable tracking at different position inputs. This compensation demonstrated a well synchronized control signal at different excitation conditions.