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Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator
International Journal of Intelligent Systems and Applications
In this research parallel Proportional-Derivative (PD) fuzzy logic theory plus Integral part (I) is used to compensate the system dynamic uncertainty controller according to highly nonlinear control theory sliding mode controller. Sliding mode controller (SM C) is an important considerable robust nonlinear controller. In presence of uncertainties, this controller is used to control of highly nonlinear systems especially for multi degrees of freedom (DOF) serial links robot manipulator. Indoi:10.5815/ijisa.2014.08.03 fatcat:ubadffctsrbj3k6l2ozh3von74