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Please use this identifier to cite or link to this item: https://dspace.iiti.ac.in/handle/123456789/7261
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dc.contributor.authorMohan, Santhakumaren_US
dc.date.accessioned2022-03-17T01:00:00Z-
dc.date.accessioned2022-03-21T10:53:18Z-
dc.date.available2022-03-17T01:00:00Z-
dc.date.available2022-03-21T10:53:18Z-
dc.date.issued2016-
dc.identifier.citationLondhe, P. S., Singh, Y., Santhakumar, M., Patre, B. M., & Waghmare, L. M. (2016). Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator. ISA Transactions, 63, 218-232. doi:10.1016/j.isatra.2016.02.016en_US
dc.identifier.issn0019-0578-
dc.identifier.otherEID(2-s2.0-84961279208)-
dc.identifier.urihttps://doi.org/10.1016/j.isatra.2016.02.016-
dc.identifier.urihttps://dspace.iiti.ac.in/handle/123456789/7261-
dc.description.abstractIn this paper, a robust nonlinear proportional–integral–derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme. © 2016 ISAen_US
dc.language.isoenen_US
dc.publisherISA - Instrumentation, Systems, and Automation Societyen_US
dc.sourceISA Transactionsen_US
dc.subjectComputer circuitsen_US
dc.subjectDegrees of freedom (mechanics)en_US
dc.subjectFlexible manipulatorsen_US
dc.subjectFuzzy controlen_US
dc.subjectMotion controlen_US
dc.subjectProportional control systemsen_US
dc.subjectRobust controlen_US
dc.subjectSystem stabilityen_US
dc.subjectClosed loop stabilityen_US
dc.subjectExternal disturbancesen_US
dc.subjectFuzzy logic controlen_US
dc.subjectLyapunov stabilityen_US
dc.subjectNonlinear PIDen_US
dc.subjectParameter uncertaintyen_US
dc.subjectPlanar parallel manipulatorsen_US
dc.subjectThree degrees of freedomen_US
dc.subjectFuzzy logicen_US
dc.titleRobust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulatoren_US
dc.typeJournal Articleen_US
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