Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot
Refer to this research, an intelligent robust fuzzy parallel feedback linearization estimator for ProportionalIntegral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately. And it is the most used in robot manipulators. In order to remove steadystate error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Feedback linearization compensation is one of the nonlinear compensator. The first problem o f the pure feedback linearization co mpensator (FLC) was equivalent problem in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using parallel fuzzy logic theory. To eliminate the continuum robot man ipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to FLC. Th is methodology is based on design parallel fu zzy inference system and applied to equivalent nonlinear dynamic part of FLC. The results demonstrate that the model free fuzzy FLC estimator works well to co mpensate linear PID controller in presence of part ly uncertainty system (e.g., continuum robot).