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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.4, No.11, Oct. 2012

Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology

Full Text (PDF, 1286KB), PP.40-52


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Author(s)

Farzin Piltan, Bamdad Boroomand, Arman Jahed, Hossein Rezaie

Index Terms

Gradient Descent Optimal Algorithm;Sliding Mode Controller;Gradient Descent Optimal Fuzzy Sliding Mode Controller;Fuzzy Based Tuning Methodology;Lyapunov Based Stability

Abstract

Design a nonlinear controller for second order nonlinear uncertain dynamical systems is the main challenge in this paper. This paper focuses on the design and analysis of a chattering free Mamdani’s fuzzy-based tuning gradient descent optimal error-based fuzzy sliding mode controller for highly nonlinear dynamic six degrees of freedom robot manipulator, in presence of uncertainties. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. 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 sliding mode controller. Pure sliding mode controller and error-based fuzzy sliding mode controller have difficulty in handling unstructured model uncertainties. To solve this problem applied fuzzy-based tuning method to error-based fuzzy sliding mode controller for adjusting the sliding surface gain. Since the sliding surface gain is adjusted by gradient descent optimization method. Fuzzy-based tuning gradient descent optimal error-based fuzzy sliding mode controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in fuzzy-based tuning gradient descent optimal fuzzy sliding mode controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).

Cite This Paper

Farzin Piltan, Bamdad Boroomand, Arman Jahed, Hossein Rezaie,"Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology", International Journal of Intelligent Systems and Applications(IJISA), vol.4, no.11, pp.40-52, 2012. DOI: 10.5815/ijisa.2012.11.05

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