Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot

@article{Salehi2013IntelligentRF,
  title={Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot},
  author={Afsaneh Salehi and Farzin Piltan and Mahmoud Seyed Mousavi and Arzhang Khajeh and Mohammad Rashidian},
  journal={International Journal of Information Engineering and Electronic Business},
  year={2013},
  volume={5},
  pages={1-16}
}
Refer to this paper, an intelligent-fuzzy feed- forward computed torque estimator for Proportional- Integral-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 steady- state error caused by uncertainties and noise, the integrator gain has to be… Expand
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