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Design Baseline Computed Torque Controller
Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh
Pages - 129 - 141     |    Revised - 15-05-2012     |    Published - 20-06-2012
Volume - 6   Issue - 3    |    Publication Date - June 2012  Table of Contents
MORE INFORMATION
KEYWORDS
Baseline Tuning Computed Torque Controller, Computed Torque Controller, Unstructured Model Uncertainties, Adaptive Method
ABSTRACT
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain (K_p,K_v ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).
CITED BY (54)  
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2 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, 6(1), 49.
3 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.
4 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.
5 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.
6 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.
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 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.
10 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.
11 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.
12 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.
13 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.
14 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.
15 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.
16 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.
17 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.
18 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.
19 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.
20 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.
21 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.
22 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.
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., 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.
25 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.
26 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.
27 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.
28 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.
29 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.
30 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).
31 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.
32 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.
33 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.
34 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.
35 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.
36 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.
37 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.
38 Zahmatkesh, S., Piltan, F., Heidari, K., Shamsodini, M., & Heidari, S. (2013). Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control. International Journal of Intelligent Systems and Applications (IJISA), 5(11), 34.
39 Kazeminasab, M., Piltan, F., Esmaeili, Z., Mirshekaran, M., & Salehi, A. (2013). Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(1), 112.
40 Heidari, S., Piltan, F., Shamsodini, M., Heidari, K., & Zahmatkesh, S. (2013). Design New Nonlinear Controller with Parallel Fuzzy Inference System Compensator to Control of Continuum Robot Manipulator. International Journal of Control and Automation, 6(4).
41 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.
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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 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.
45 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.
46 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
47 Piltan, F., Yarmahmoudi, M. H., Shamsodini, M., Mazlomian, E., & Hosainpour, A. (2012). PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses. International Journal of Robotics and Automation, (3), 167-191.
48 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.
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50 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.
51 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.
52 Piltan, F., Rahmdel, S., Mehrara, S., & Bayat, R. (2012). Sliding mode methodology vs. Computed torque methodology using matlab/simulink and their integration into graduate nonlinear control courses. International Journal of Engineering, 6(3), 142-177.
53 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.
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Dr. Farzin Piltan
SSP.CO - Iran
SSP.ROBOTIC@YAHOO.COM
Dr. Mina Mirzaei
- Iran
Dr. Forouzan Shahriari
- Iran
Dr. Iman Nazari
- Iran
Dr. Sara Emamzadeh
- Iran


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