earticle

영어

According to this research paper, fuzzy hype plane controller is applied to robust nonlinear controller to reduce the vibration of motor. To control of multi degree of freedom joint, nonlinear controllers are the best candidate. Sliding mode controller is one of the best choices to robust control of this nonlinear system. The sliding mode controller is used to speed up the error convergence when the error is greater than one. To reduce the error terminal sliding mode controller is recommended in this research. Fuzzy hype-plane variable sliding mode controller is adopted to guarantee the error convergence to zero in a finite time when the error is near the zero. The chattering in the conventional sliding model control systems is avoided with the employed continuous controller. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended. This technique is used to adjust the band of terminals. The simulation results show that the proposed scheme has strong robust against the uncertainties and disturbances, as well as leads to the convergence of the output to the desired value quickly and precisely than employing either sliding mode controller or terminal sliding mode controller alone.