INFORMATION CHANGE THE WORLD

International Journal of Intelligent Systems and Applications(IJISA)

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

Published By: MECS Press

IJISA Vol.6, No.10, Sep. 2014

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

Full Text (PDF, 794KB), PP.55-66


Views:88   Downloads:0

Author(s)

Mohammad Ali Tayebi, Farzin Piltan, Mahsa Piltan, Mojtaba Yaghoot, Meysam Esmaeili

Index Terms

Fuzzy Sliding Mode Algorithm, Spherical Motor, Chattering Phenomenon, Fuzzy Logic Controller

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 (SMC). Sliding mode controller (SMC) 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(τ_dis) and equivalent controller(τ_eq). 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.

Cite This Paper

Mohammad Ali Tayebi, Farzin Piltan, Mahsa Piltan, Mojtaba Yaghoot, Meysam Esmaeili,"Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.10, pp.55-66, 2014. DOI: 10.5815/ijisa.2014.10.08

Reference

[1]Vachtsevanos, G. I., Davey, K. and Lee, K. M., "Development of a Novel Intelligent Robotic Manipulator," IEEE Control System Magazine, 1987, pp.9-15.

[2]Davey, K., Vachtsevanos, G. I., and Powers, R., "An analysis of Fields and Torques in Spherical Induction Motors," lEE Transactions on Magnetics, Vol. MAG-23, 1987, pp. 273-282.

[3]Foggia, A., Oliver, E., Chappuis, F., "New Three Degrees of Freedom Electromagnetic Actuator," Conference Record -lAS Annual Meeting, Vol. 35, New York, 1988.

[4]Lee, K. M., Vachtsevanos, G. and Kwan, C-K., "Development of a Spherical Wrist Stepper Motor," Proceedings of the 1988 IEEE lntemational Conference on Robotics and Automation, Philadelphia, PA. April 26-29.

[5]Lee, K. M., Pei. I., "Kinematic Analysis of a Three Degree-of-Freedom Spherical Wrist Actuator," The Fifth International Conference on Advanced Robotics, Italy,1991.

[6]Wang, I., Jewel, G., Howe, D., "Modeling of a Novel Spherical Pennanent Magnet Actuator," Proceedings of IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp 1190-1195, 1997.

[7]Wang, I., Jewel, G., Howe, D., "Analysis, Design and Control of a Novel Spherical Pennanent Magnet Actuator," lEE Proceedings on Electrical Power Applications., vol. 154, no. 1, 1998.

[8]Chirikjian, G. S., and Stein, D., "Kinematic Design and Commutation of a Spherical Stepper Motor," IEEEIASME Transactions on Mechatronics, vol. 4, n 4, Piscataway, New Jersey, pp. 342-353, Dec. 1999.

[9]Kahlen, K., and De Doncker, R. W., "CW'l'ent Regulators for Multi-phase Pennanent Magnet Spherical Machines." Industry Applications Conference Record of the 2000 IEEE, vol. 3, 2000, pp. 2011-2016.

[10]Lee, K. M., Pei, I., and Gilboa, U., "On the Development of a Spherical Wrist Actuator," Proceedings of the 16th NSF Conference on Manufacturing Systems Research, Tempe AZ, January 8-12, 1990.

[11]Yang, C., Back, Y. S., "Design and Control of the 3-dcgn:es of freedom actuator by Controlling the Electromagnetic Force," IEEE Transactions on Magnetics, May, 1999, pp. 3607-3609.

[12]Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain”, World Applied Science Journal (WASJ), 14 (9): 1306-1312, 2011.

[13]Farzin Piltan, Mohammadali Dialame, Abbas Zare & Ali Badri,“Design Novel Lookup Table Changed Auto Tuning FSMC:Applied to Robot Manipulator”, International Journal of Engineering, 6 (1):25-41, 2012

[14]Farzin Piltan, Mohammad Keshavarz, Ali Badri & Arash Zargari,“Design Novel Nonlinear Controller Applied to RobotManipulator: Design New Feedback Linearization Fuzzy Controller with Minimum Rule Base Tuning Method”, International Journal of Robotics and Automation,3 (1):1-12, 2012

[15]Farzin Piltan, Iman Nazari, Sobhan Siamak, Payman Ferdosali,“Methodology of FPGA-Based Mathematical error-Based Tuning Sliding Mode Controller”, International Journal of Control and Automation, 5(1), 89-118, 2012

[16]Farzin Piltan, Bamdad Boroomand, Arman Jahed & Hossein Rezaie, “Methodology of Mathematical Error-Based Tuning Sliding Mode Controller”, International Journal of Engineering, 6 (2):96-117, 2012

[17]Farzin Piltan, Sara Emamzadeh, Zahra Hivand, Fatemeh Shahriyari & Mina Mirazaei, ”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, 2012

[18]Farzin Piltan, Ali Hosainpour, Ebrahim Mazlomian, Mohammad Shamsodini, Mohammad H. Yarmahmoudi, ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Robotics and Automation, 3(3):77-105, 2012

[19]Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh, “Design Baseline Computed Torque Controller”, International Journal of Engineering, 6(3): 129-141, 2012

[20]Farzin Piltan, Mohammad H. Yarmahmoudi, Mohammad Shamsodini, Ebrahim Mazlomian, Ali Hosainpour, ”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(3): 167-191, 2012

[21]Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, Arman Jahed, “Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine”, International Journal of Advance Science and Technology, 11:40-22, 2012 

[22]Farzin Piltan, Mohammad R. Rashidian, Mohammad Shamsodini and Sadeq Allahdadi, Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2nd Order Nonlinear System”, International Journal of Advanced Science and Technology, 46:39-70, 2012

[23]Farzin Piltan, Arman Jahed, Hossein Rezaie and Bamdad Boroomand, ”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, 2012

[24]Farzin Piltan, Bamdad Boroomand, Arman Jahed and Hossein Rezaie, ”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, , vol.4, no.11, pp.40-52, 2012.

[25]Farzin Piltan, Mehdi Akbari, Mojdeh Piran , Mansour Bazregar, ”Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine”, International Journal of Information Technology and Computer Science, vol.5, no.1, pp.65-73, 2013.DOI: 10.5815/ijitcs.2013.01.07.

[26]Farzin Piltan, Mojdeh Piran , Mansour Bazregar, Mehdi Akbari, “Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio”, International Journal of Intelligent Systems and Applications, vol.5, no.2, pp.59-70, 2013. DOI: 10.5815/ijisa.2013.02.07.

[27]Farzin Piltan, M. Bazregar, M. kamgari, M. Akbari and M. Piran, “Adjust the Fuel Ratio by High Impact Chattering Free Sliding Methodology with Application to Automotive Engine”, International Journal of Hybrid Information Technology, 6(1), 2013.

[28]Farzin Piltan, S. Zare , F. ShahryarZadeh, M. Mansoorzadeh, M. kamgari, “Supervised Optimization of Fuel Ratio in IC Engine Based on Design Baseline Computed Fuel Methodology”, International Journal of Information Technology and Computer Science , vol.5, no.4, pp.76-84, 2013.DOI: 10.5815/ijitcs.2013.04.09.

[29]Farzin Piltan, M. Mansoorzadeh, S. Zare, F.Shahryarzadeh, M. Akbari, “Artificial Tune of Fuel Ratio: Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control”, International Journal of Electrical and Computer Engineering, 3(2), 2013.

[30]M. Bazregar, Farzin Piltan, A. Nabaee and M.M. Ebrahimi, “Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems”, International Journal of Advanced Science and Technology, 51, 2013.

[31]Farzin Piltan, M.H. Yarmahmoudi, M. Mirzaei, S. Emamzadeh, Z. Hivand, “Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications , vol.5, no.5, pp.1-10, 2013.DOI: 10.5815/ijisa.2013.05.01.

[32]Sh. Tayebi Haghighi, S. Soltani, Farzin Piltan, M. kamgari, S. Zare, “Evaluation Performance of IC Engine: Linear Tunable Gain Computed Torque Controller Vs. Sliding Mode Controller”, International Journal of Intelligent Systems and Applications, vol.5, no.6, pp.78-88, 2013.DOI: 10.5815/ijisa.2013.06.10.

[33]Amin Jalali, Farzin Piltan, M. Keshtgar, M. Jalali, “Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, vol.5, no.7, pp.50-56, 2013. DOI: 10.5815/ijisa.2013.07.07.

[34]Salehi, Farzin Piltan, M. Mousavi, A. Khajeh, M. R. Rashidian, “Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.1-16, 2013. DOI: 10.5815/ijieeb.2013.01.01.

[35]Farzin Piltan, M.J. Rafaati, F. Khazaeni, A. Hosainpour, S. Soltani, “A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.17-25, 2013. DOI: 10.5815/ijieeb.2013.01.02.

[36]Amin Jalali, Farzin Piltan, A. Gavahian, M. Jalali, M. Adibi, “Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot manipulator”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.68-78, 2013. DOI: 10.5815/ijieeb.2013.01.08.

[37]Farzin Piltan, F. ShahryarZadeh, M. Mansoorzadeh, M. kamgari, S. Zare, “Robust Fuzzy PD Method with Parallel Computed Fuel Ratio Estimation Applied to Automotive Engine“, International Journal of Intelligent Systems and Applications, vol.5, no.8, pp.83-92, 2013. DOI: 10.5815/ijisa.2013.08.10.

[38]Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, vol.5, no.8, pp.123-135, 2013. DOI: 10.5815/ijitcs.2013.08.12.

[39]Farzin Piltan, M. Mansoorzadeh, M. Akbari, S. Zare, F. ShahryarZadeh “Management of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine“ Global Journal of Biodiversity Science And Management, 3(1), 2013.

[40]M. M. Ebrahimit Farzin Piltan, M. Bazregar and A.R. Nabaee, “Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator”, International Journal of Control and Automation, 6(3), 2013.

[41]O.R. Sadrnia, Farzin Piltan, M. Jafari, M. Eram and M. Shamsodini, “Design PID Estimator Fuzzy plus Backstepping to Control of Uncertain Continuum Robot”, International Journal of Hybrid Information Technology, 6(4), 2013.

[42]AminJalali, Farzin Piltan, H. Hashemzadeh, A. Hasiri, M.R Hashemzadeh, “Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System”, International Journal of Intelligent Systems and Applications, vol.5, no.10, pp.93-105, 2013. DOI: 10.5815/ijisa.2013.10.12.

[43]M. Moosavi, M. Eram, A. Khajeh, O. Mahmoudi and Farzin Piltan, “Design New Artificial Intelligence Base Modified PID Hybrid Controller for Highly Nonlinear System”, International Journal of Advanced Science and Technology, 57, 2013.

[44]S. Zahmatkesh, Farzin Piltan, K. Heidari, M. Shamsodini, S. Heidari, “Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control” International Journal of Intelligent Systems and Applications, vol.5, no.11, pp.34-46, 2013. DOI: 10.5815/ijisa.2013.11.04.

[45]S. Heidari, Farzin Piltan, M. Shamsodini, K. Heidari and S. Zahmatkesh, “Design New Nonlinear Controller with Parallel Fuzzy Inference System Compensator to Control of Continuum Robot Manipulator”,International Journal of Control and Automation, 6(4), 2013.

[46]FarzinPiltan, M. Kamgari, S. Zare, F. ShahryarZadeh, M. Mansoorzadeh, “Design Novel Model Reference Artificial Intelligence Based Methodology to Optimized Fuel Ratio in IC Engine”, International Journal of Information Engineering and Electronic Business, vol.5, no.2, pp.44-51, 2013. DOI: 10.5815/ijieeb.2013.02.07.

[47]Farzin Piltan, Mehdi Eram, Mohammad Taghavi, Omid Reza Sadrnia, Mahdi Jafari,"Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator", IJISA, vol.5, no.12, pp.135-148, 2013. DOI: 10.5815/ijisa.2013.12.12

[48]Amin Jalali, Farzin Piltan, Mohammadreza Hashemzadeh, Fatemeh BibakVaravi, Hossein Hashemzadeh,"Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot", IJITCS, vol.5, no.12, pp.97-112, 2013. DOI: 10.5815/ijitcs.2013.12.12

[49]Farzin Piltan, A. Hosainpour, S. Emamzadeh, I. Nazari, M. Mirzaie, “Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator”, International Journal of Robotics and Automation, Vol. 2, No. 4, December 2013, pp. 149~162.

[50]Farzin Piltan, Mahdi Jafari, Mehdi Eram, Omid Mahmoudi, Omid Reza Sadrnia, "Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System", International Journal of Engineering and Manufacturing, vol.3, no.1, pp.38-57, 2013.DOI: 10.5815/ijem.2013.01.04

[51]Farzin Piltan, Sara Emamzadeh, Sara Heidari, Samaneh Zahmatkesh, Kamran Heidari, "Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot", International Journal of Engineering and Manufacturing, vol.3, no.2, pp.51-72, 2013.DOI: 10.5815/ijem.2013.02.04

[52]Mohammad Mahdi Ebrahimi, Farzin Piltan, Mansour Bazregar, AliReza Nabaee,"Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.5, pp.57-69, 2013. DOI: 10.5815/ijieeb.2013.05.08

[53]Arman Jahed, Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, "Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.3, pp.66-77, 2013. DOI: 10.5815/ijieeb.2013.03.08

[54]Mohammad Shamsodini, Farzin Piltan, Mahdi Jafari, Omid reza Sadrnia, Omid Mahmoudi,"Design Modified Fuzzy Hybrid Technique: Tuning By GDO", IJMECS, vol.5, no.8, pp.58-72, 2013.DOI: 10.5815/ijmecs.2013.08.07

[55]Mahdi Mirshekaran, Farzin Piltan,Zahra Esmaeili, Tannaz Khajeaian, Meysam Kazeminasab,"Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", IJMECS, vol.5, no.10, pp.53-63, 2013.DOI: 10.5815/ijmecs.2013.10.07

[56]Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi ,"Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot", IJISA, vol.6, no.1, pp.112-123, 2014. DOI: 10.5815/ijisa.2014.01.12.

[57]Mansour Bazregar, Farzin Piltan, Mehdi Akbari, Mojdeh Piran,"Management of Automotive Engine Based on Stable Fuzzy 10.5815/ijitcs.2014.01.12.

[58]Alireza Siahbazi, Ali Barzegar, Mahmood Vosoogh, Abdol Majid Mirshekaran, Samira Soltani,"Design Modified Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Spherical Motor", IJISA, vol.6, no.3, pp.12-25, 2014. DOI: 10.5815/ijisa.2014.03.02

[59]Narges Gholami Mozafari, Farzin Piltan, Mohammad Shamsodini, Azita Yazdanpanah, Ali Roshanzamir,"On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot", IJISA, vol.6, no.3, pp.96-110, 2014. DOI: 10.5815/ijisa.2014.03.10.

[60]Mansour Bazregar, Farzin Piltan, AliReza Nabaee, MohammadMahdi Ebrahimi,"Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot", IJITCS, vol.6, no.3, pp.82-94, 2014. DOI: 10.5815/ijitcs.2014.03.10.