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Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator
Farzin Piltan, Mohammad Ali Dialame, Abbas Zare, Ali Badri
Pages - 25 - 41     |    Revised - 15-01-2012     |    Published - 21-02-2012
Volume - 6   Issue - 1    |    Publication Date - February 2012  Table of Contents
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KEYWORDS
Sliding Mode Controller, Fuzzy Logic Methodology, Fuzzy Sliding Mode Controller, Adaptive Methodology, Fuzzy Lookup Table Changed Sliding Mode Controll
ABSTRACT
Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.00017).
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1 Siahbazi, A., Barzegar, A., Vosoogh, M., Mirshekaran, A. M., & Soltani, S. (2014). Design Modified Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(3), 12.
2 Roshanzamir, A., Piltan, F., Yazdanpanah, A., & Mirshekari, M. (2014). Design Intelligent Model base Online Tuning Methodology for Nonlinear System. International Journal of Modern Education and Computer Science (IJMECS), 6(4), 46.
3 Matin, F., Piltan, F., Cheraghi, H., Sobhani, N., & Rahmani, M. (2014). Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(2), 53.
4 Yaghoot, M., Piltan, F., Esmaeili, M., Tayebi, M. A., & Piltan, M. (2014). Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor. International Journal of Modern Education and Computer Science (IJMECS), 6(3), 61.
5 Bazregar, M., Piltan, F., Nabaee, A., & Ebrahimi, M. (2014). Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot. International Journal of Information Technology and Computer Science (IJITCS), 6(3), 82.
6 Mozafari, N. G., Piltan, F., Shamsodini, M., Yazdanpanah, A., & Roshanzamir, A. (2014). On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(3), 96.
7 Barzegar, A., Piltan, F., Vosoogh, M., Mirshekaran, A. M., & Siahbazi, A. (2014). Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor. International Journal of Information Technology and Computer Science (IJITCS), 6(5), 72.
8 Shahcheraghi, A., Piltan, F., Mokhtar, M., Avatefipour, O., & Khalilian, A. (2014). Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller. International Journal of Information Technology and Computer Science (IJITCS), 6(2), 72.
9 Avatefipour, O., Piltan, F., Nasrabad, M. R. S., Sahamijoo, G., & Khalilian, A. (2014). Design New Robust Self Tuning Fuzzy Backstopping Methodology. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(1), 49.
10 Salehi, A., Piltan, F., Mirshekaran, M., Kazeminasab, M., & Esmaeili, Z. (2014). Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control. International Journal of Information Technology and Computer Science (IJITCS), 6(4), 66.
11 Esmaieli, Z., Piltan, F., Kazeminasab, M., Salehi, A. R., & Mirshekaran, M. (2014). Design Intelligent Robust Back stepping Controller. International Journal of Modern Education and Computer Science (IJMECS), 6(1), 53.
12 Rahmani, M., Piltan, F., Matin, F., Cheraghi, H., & Sobhani, N. (2014). Design Intelligent System Compensator to Computed Torque Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(8), 87.
13 Khajeh, A., Piltan, F., Rashidian, M. R., & Salehi, A. (2014). Design new intelligent PID like fuzzy backstepping controller. International Journal of Modern Education and Computer Science (IJMECS), 6(2), 15.
14 Nazari, I., Hosainpour, A., Piltan, F., Emamzadeh, S., & Mirzaie, M. (2014). Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 6(4), 63.
15 Piran, M., Piltan, F., Akbari, M., Garg, R., & Bazregar, M. (2014). Quality Model and Artificial Intelligence Base Fuel Ratio Management with Applications to Automotive Engine. International Journal of Intelligent Systems and Applications (IJISA), 6(2), 76.
16 Khalilian, A., Sahamijoo, G., Avatefipour, O., Piltan, F., & Nasrabad, M. R. S. (2014). Design high efficiency-minimum rule base PID like fuzzy computed torque controller. International Journal of Information Technology and Computer Science (IJITCS), 6(7), 77.
17 Yazdanpanah, A., Piltan, F., Roshanzamir, A., & Mirshekari, M. (2014). Design PID Baseline Fuzzy Tuning Proportional-Derivative Coefficient Nonlinear Controller with Application to Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(5), 90.
18 Nabaee, A., Piltan, F., Ebrahimi, M., & Bazregar, M. (2014). Design intelligent robust partly linear term SMC for robot manipulator systems. International Journal of Intelligent Systems and Applications (IJISA), 6(6), 58.
19 Piltan, F., Rahbar, S., Pooladi, E., & Davarpanah, H. (2014). Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor. International Journal of Modern Education and Computer Science (IJMECS), 6(5), 60.
20 Mokhtar, M., Piltan, F., Mirshekari, M., Khalilian, A., & Avatefipour, O. (2014). Design minimum rule-base fuzzy inference nonlinear controller for second order nonlinear system. International Journal of Intelligent Systems and Applications (IJISA), 6(7), 79.
21 Piltan, M., Piltan, F., Yaghoot, M., Rahbar, S., & Tayebi, M. A. (2014). Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(4), 52.
22 Tayebi, M. A., Piltan, F., Piltan, M., Yaghoot, M., & Esmaeili, M. (2014). Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(10), 55.
23 Khalilian, A., Piltan, F., Avatefipour, O., Nasrabad, M. R. S., & Sahamijoo, G. (2014). Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator. International Journal of Intelligent Systems and Applications (IJISA), 6(9), 75.
24 Piltan, F., Bazregar, M., Akbari, M., & Piran, M. (2013). Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization. International Journal of Advances in Applied Sciences, 2(4), 171-184.
25 Heidari, K., Piltan, F., Zahmatkesh, S., Heidari, S., & Jafari, M. (2013). Design High Efficiency Intelligent Robust Backstepping Controller. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(6), 22.
26 Piltan, F., Badri, A., Meigolinedjad, J., & Keshavarz, M. (2013). Adaptive Artificial Intelligence Based Model Base Controller: Applied to Surgical Endoscopy Telemanipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(9), 103.
27 Piltan, F., Yarmahmoudi, M., Mirzaie, M., Emamzadeh, S., & Hivand, Z. (2013). Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(5), 1.
28 Piltan, F., Nabaee, A., Ebrahimi, M., & Bazregar, M. (2013). Design robust fuzzy sliding mode control technique for robot manipulator systems with modeling uncertainties. International Journal of Information Technology and Computer Science (IJITCS), 5(8), 123.
29 Salehi, A., Piltan, F., Mousavi, M., Khajeh, A., & Rashidian, M. R. (2013). Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(1), 1.
30 Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator. International Journal of Control and Automation, 6(3), 15-34.
31 Piltan, F., Eram, M., Taghavi, M., Sadrnia, O. R., & Jafari, M. (2013). Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(12), 135.
32 Piltan, F., Bazregar, M., Akbari, M., & Piran, M. (2013). Adjust the fuel ratio by high impact chattering free sliding methodology with application to automotive engine. International Journal of Hybrid Information Technology, 6(1), 13-24.
33 Piltan, F., Mansoorzadeh, M., Zare, S., Shahryarzadeh, F., & Akbari, M. (2013). Artificial tune of fuel ratio: Design a novel siso fuzzy backstepping adaptive variable structure control. International Journal of Electrical and Computer Engineering (IJECE), 3(2), 171-185.
34 Jahed, A., Piltan, F., Rezaie, H., & Boroomand, B. (2013). Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. International Journal of Information Engineering & Electronic Business, 5(3).
35 Mirshekaran, M., Piltan, F., Esmaeili, Z., Khajeaian, T., & Kazeminasab, M. (2013). Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator. International Journal of Modern Education and Computer Science (IJMECS), 5(10), 53.
36 Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(5), 57.
37 Piltan, F., Emamzadeh, S., Heidari, S., Zahmatkesh, S., & Heidari, K. (2013). Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot. International Journal of Engineering and Manufacturing, 3(2), 51-72.
38 Jalali, A., Piltan, F., Hashemzadeh, M., BibakVaravi, F., & Hashemzadeh, H. (2013). Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot. International Journal of Information Technology and Computer Science (IJITCS), 5(12), 97.
39 Piltan, F., Hosainpour, A., Emamzadeh, S., Nazari, I., & Mirzaie, M. (2013). Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. IAES International Journal of Robotics and Automation (IJRA), 2(4), 149-162.
40 Moosavi, M., Eram, M., Khajeh, A., Mahmoudi, O., & Piltan, F. (2013). Design New Artificial Intelligence Base Modified PID Hybrid Controller for Highly Nonlinear System. International Journal of Advanced Science and Technology, 57.
41 Piltan, F., Jafari, M., Eram, M., Mahmoudi, O., & Sadrnia, O. R. (2013). Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System. International Journal of Engineering and Manufacturing (IJEM), 3(1), 38.
42 Shamsodini, M., Piltan, F., Jafari, M., reza Sadrnia, O., & Mahmoudi, O. (2013). Design Modified Fuzzy Hybrid Technique: Tuning By GDO. International Journal of Modern Education and Computer Science (IJMECS), 5(8), 58.
43 Bazregar, M., Piltan, F., Akbari, M., & Piran, M. (2013). Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization. International Journal of Information Technology and Computer Science (IJITCS), 6(1), 101.
44 Piltan, F., Mehrara, S., Meigolinedjad, J., & Bayat, R. (2013). Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot. International Journal of Information Technology and Computer Science (IJITCS), 5(11), 111.
45 Bayat, R. (2013). Artificial Intelligence SVC Based Control of Two Machine Transmission System. International Journal of Intelligent Systems and Applications (IJISA), 5(8), 1.
46 Piltan, F., Piran, M., Bazregar, M., & Akbari, M. (2013). Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio. International Journal of Intelligent Systems and Applications (IJISA), 5(2), 59.
47 Piltan, F., Piran, M., Bazregar, M., & Akbari, M. (2013). Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio. International Journal of Intelligent Systems and Applications, 5(2), 59.
48 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
49 Piltan, F., Emamzadeh, S., Hivand, Z., Shahriyari, F., & Mirazaei, M. (2012). PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses. International Journal of Robotics and Automation, 3(3), 106-150.
50 Piltan, F., Hosainpour, A., Mazlomian, E., Shamsodini, M., & Yarmahmoudi, M. H. (2012). Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach. International Journal of Robotics and Automation, 3(3), 77-105.
51 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
52 Piltan, F., Boroomand, B., Jahed, A., & Rezaie, H. (2012). Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology. International Journal of Intelligent Systems and Applications (IJISA), 4(11), 40.
53 Piltan, F., Meigolinedjad, J., Mehrara, S., & Rahmdel, S. (2012). Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology. International Journal of Robotics and Automation, 3(3), 192-211.
54 Piltan, F., Jahed, A., Rezaie, H., & Boroomand, B. (2012). Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System. International Journal of Control and Automation, 5(3), 217-236.
55 Piltan, F., Akbari, M., Piran, M., & Bazregar, M. (2012). Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine. International Journal of Information Technology and Computer Science (IJITCS), 5(1), 65.
56 Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
57 Piltan, F., Bayat, R., Aghayari, F., & Boroomand, B. (2012). Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller. International Journal of Robotics and Automation, 3(3), 151-166.
58 Piltan, F., Bayat, R., Mehara, S., & Meigolinedjad, J. (2012). GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace. International Journal of Information Engineering and Electronic Business (IJIEEB), 4(5), 17.
59 Piltan, F., & Haghighi, S. T. (2012). Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots. IAES International Journal of Robotics and Automation (IJRA), 1(4), 175-189.
60 Piltan, F., Mehrara, S., Bayat, R., & Rahmdel, S. (2012). Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
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Dr. Farzin Piltan
SSP Co - Iran
SSP.ROBOTIC@yahoo.com
Mr. Mohammad Ali Dialame
- Iran
Mr. Abbas Zare
- Iran
Mr. Ali Badri
- Iran


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