The Proportional Integral Derivative (PID) Fuzzy hybrid (switching mode computed torque sliding mode) Controller is presented in this research. The popularity of PID FHC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FHC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. This paper analyses the manual tuning techniques and compares the same with Gradient Descent tuning methods for tuning PID FHC controllers for flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator
This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm to control of continuum robot manipulator. Variable structure methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable error result and adjust the trajectory following. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and modified Proportional plus Derivative (P+D) fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the modified rate of error. The outputs represent joint torque, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC based on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC. Simulation results signify good performance of trajectory in presence of uncertainty joint torque load
Abstract-Classical sliding mode controller is robust to model uncertainties and external d isturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combin ing a sliding mode controller and fuzzy system together. Fuzzy rules allow fuzzy systems to approximate arbitrary continuous functions. To approximate a time-varying nonlinear system, a fu zzy system requires a large amount of fuzzy rules. This large number of fuzzy ru les will cause a high computation load. The addition of an adaptive law to a fuzzy slid ing mode controller to online tune th e parameters of the fuzzy ru les in use will ensure a moderate co mputational load. Refer to this research; tuning methodology can online adjust both the premise and the consequence parts of the fuzzy rules. Since this algorith m for is specifically applied to a robot manipulator.
Abstract-The minimum rule base Proportional Integral Derivative (PID) Fuzzy Computed Torque Controller with application to spherical motor is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and acceptable trajectory follow disturbance to control of spherical motor. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor"s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.Index Term-PID like fuzzy control, computed torque controller, PD like fuzzy control, conventional PI control, three degrees of freedom spherical motor.
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