Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic - Tapa blanda

ELTHALATHINY, BASEL

9783659934476: Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic

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ISBN 10: 365993447X ISBN 13: 9783659934476

Editorial: LAP LAMBERT Academic Publishing, 2016

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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.

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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

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EditorialLAP LAMBERT Academic Publishing
A�o de publicaci�n2016
ISBN 10 365993447X
ISBN 13 9783659934476
Encuadernaci�nTapa blanda
IdiomaIngl�s
N�mero de p�ginas88

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Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic

Basel Elthalathiny

Publicado por LAP LAMBERT Academic Publishing Aug 2016, 2016

ISBN 10: 365993447X ISBN 13: 9783659934476

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Librería: BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, Alemania

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Taschenbuch. Condici�n: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 88 pp. Englisch. N� de ref. del art�culo: 9783659934476

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Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic

Basel Elthalathiny

Publicado por LAP LAMBERT Academic Publishing, 2016

ISBN 10: 365993447X ISBN 13: 9783659934476

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Librería: AHA-BUCH GmbH, Einbeck, Alemania

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Taschenbuch. Condici�n: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - 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. N� de ref. del art�culo: 9783659934476

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Slinding Mode Robot Controller Tuning Genetic Algorithms & Fuzzy Logic

BASEL ELTHALATHINY

Publicado por LAP LAMBERT Academic Publishing, 2016

ISBN 10: 365993447X ISBN 13: 9783659934476

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Condici�n: New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Autor/Autorin: ELTHALATHINY BASELBasel 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. N� de ref. del art�culo: 158249042

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