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A New Estimate Sliding Mode Fuzzy Controller for Robotic Manipulator
Farzin Piltan, Farid Aghayari, Mohammad Reza Rashidian, Mohammad Shamsodini
Pages - 45 - 60     |    Revised - 15-01-2012     |    Published - 21-02-2012
Volume - 3   Issue - 1    |    Publication Date - January / February 2012  Table of Contents
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KEYWORDS
Sliding Mode Controller, Fuzzy Logic Methodology, Estimation, Sliding Mode Fuzzy
ABSTRACT
One of the most active research areas in field of robotics is control of robot manipulator because this system has highly nonlinear dynamic parameters and most of dynamic parameters are unknown so design an acceptable controller is the main goal in this work. To solve this challenge position new estimation sliding mode fuzzy controller is introduced and applied to robot manipulator. This controller can solve to most important challenge in classical sliding mode controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
CITED BY (41)  
1 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.
2 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.
3 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.
4 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.
5 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.
6 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.
7 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.
8 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.
9 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.
10 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.
11 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.
12 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.
13 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).
14 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.
15 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.
16 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.
17 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.
18 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.
19 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.
20 Jalali, A., Piltan, F., Hashemzadeh, H., Hasiri, A., & Hashemzadeh, M. (2013). Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System. International Journal of Intelligent Systems and Applications (IJISA), 5(10), 93.
21 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.
22 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.
23 Piltan, F., Bairami, M. A., Aghayari, F., & Rashidian, M. R. (2013). Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator. International Journal of Information Technology and Computer Science (IJITCS), 5(7), 103.
24 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.
25 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.
26 Shamsodini, M., Manei, R., Bekter, A., Ranjbar, B., & Soltani, S. (2013). Design a New Fuzzy Optimize Robust Sliding Surface Gain in Nonlinear Controller. International Journal of Intelligent Systems and Applications (IJISA), 5(12), 91.
27 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.
28 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.
29 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.
30 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.
31 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.
32 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.
33 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
34 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.
35 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.
36 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.
37 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.
38 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.
39 Piltan, F., Mehrara, S., Bayat, R., & Rahmdel, S. (2012). Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
40 Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
41 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
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Dr. Farzin Piltan
SSP Co - Iran
SSP.ROBOTIC@yahoo.com
Mr. Farid Aghayari
- Iran
Mr. Mohammad Reza Rashidian
- Iran
Mr. Mohammad Shamsodini
- Iran


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