On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot

Mozafari, Narges Gholami; Piltan, Farzin; Shamsodini, Mohammad; Yazdanpanah, Azita; Roshanzamir, Ali

doi:10.5815/ijisa.2014.03.10

Cited by 9 publications

(19 citation statements)

References 20 publications

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“…The remaining terms in the dynamic equations resulting from gravitational potential energies and spring energies are collected in the matrix . The coefficient matrices of the dynamic equations are given below, [58][59][60][61][62][63][64][65][66][67][68][69]. However the application area for fuzzy control is really wide, the basic form for all command types of controllers consists of;…”

Section: Dynamic Formulation Of Continuum Robotmentioning

confidence: 99%

“…The intelligent tracking control using the fuzzy-logic technique provides a cost-and-time efficient control implementation due to the automated dynamic-less input. This in turn would further inspire multi-uncertainties testing for continuum robot [58][59][60][61][62][63][64][65][66][67][68][69]. In project we can used fuzzy logic theory when a plant can be considered as a black box with outputs available for measurement and a possibility of changing inputs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

Roshanzamir¹,

Piltan²,

Mozafari³

et al. 2014

IJMECS

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Abstract-In various dynamic parameters systems that need to be training on-line adaptive control methodology is used. In this paper fuzzy model-base adaptive methodology is used to tune the linear Proportional Integral Derivative (PID) controller. The main objectives in any systems are; stability, robust and reliability. However PID controller is used in many applications but it has many challenges to control of continuum robot. To solve these problems nonlinear adaptive methodology based on model base fuzzy logic is used. This research is used to reduce or eliminate the PID controller problems based on model reference fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.Index Terms-PID Controller, Fuzzy logic methodology, Adaptive Techniques, Model reference fuzzy tuning.

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Section: Dynamic Formulation Of Continuum Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

Roshanzamir¹,

Piltan²,

Mozafari³

et al. 2014

IJMECS

Self Cite

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show abstract

“…This control problem is classified into two main groups. Firstly, transformation the desired motion to joint variable by inverse kinematics of spherical motor [56][57][58][59][60]. This control includes simple PD control, PID control, inverse dynamic control, Lyapunov-based control, and passivity based control.…”

Section: Introductionmentioning

confidence: 99%

Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor

Tayebi¹,

Piltan²,

Piltan³

et al. 2014

IJISA

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Abstract− The main four objectives to design controllers are: stability, robust, minimum error and reliability. Linear PID controller is model-free controller and this controller is not reliable. One of the robust nonlinear controller to control of nonlinear systems is sliding mode controller (SM C). Sliding mode controller (SM C) is robust conventional nonlinear controller in a partly uncertain dynamic system"s parameters. Sliding mode controller is divided into two main sub parts: discontinues controller and equivalent controller . Discontinues controller is used to design suitable tracking performance based on very fast switching. Fast switching or discontinuous part have essential role to achieve to good trajectory following, but it is caused system instability and chattering phenomenon. Chattering phenomenon is one of the main challenges in conventional sliding mode controller and it can causes some important mechanical problems such as saturation and heats the mechanical parts of robot manipulators or drivers. To reduce or eliminate the chattering two methods are used in many researches which these methods are: boundary layer saturation method and artificial intelligence based method. In this research fuzzy switching methodology is used to eliminate the chattering in presence of uncertainty to increase the robust of this controller with application to three dimensions of spherical motor.

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“…Although the fuzzy-logic control is not a new technique, its application in this current research is considered to be novel since it aimed for an automated dynamic-less response rather than for the traditional objective of uncertainties compensation [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55]. The intelligent tracking control using the fuzzy-logic technique provides a cost-and-time efficient control implementation due to the automated dynamic-less input.…”

Section: Introductionmentioning

confidence: 99%

“…Even though, this methodology is used in wide range areas but, pure computed torque method has an important drawbacks beside uncertain system and also in presence of external disturbance. Uncertainty in system can causes some problems about safety in industrial factory [34][35][36][37][38][39][40][41][42][43][44][45][46][47][48][49][50].…”

Section: Introductionmentioning

confidence: 99%

Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor

Shamsodini¹,

Piltan²,

Rahbar³

et al. 2014

IJMECS

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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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On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot

Cited by 9 publications

References 20 publications

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor

Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor

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