Work place: Department of Biomedical Engineering, California Polytechnic State University, San Luis Obispo, California
E-mail: mkeshga@calpoly.edu
Website:
Research Interests: Bioinformatics, Artificial Intelligence, Neural Networks, Computer Networks, Process Control System
Biography
Maziyar Keshtgar is a Biomedical Engineering engineer researcher. His research activities deal with the artificial intelligence control, bioinformatics, orthopedic bio-mechanics, bone-mechanics, neural networks, and electronics
By Amin Jalali Farzin Piltan Maziyar Keshtgar Meysam Jalali
DOI: https://doi.org/10.5815/ijisa.2013.07.07, Pub. Date: 8 Jun. 2013
One of the best nonlinear robust controllers which can be used in uncertain nonlinear systems is sliding mode controller (SMC), but pure SMC results in chattering in a noisy environment. This effect can be eliminated by optimizing the sliding surface slope. This paper investigates a novel methodology in designing a SMC by a new heuristic search, so called "colonial competitive algorithm "in order to tune the sliding surface slope and the switching gain of the discontinuous part in SMC structure. This process decreases the integral of absolute errors which results in tracking the desired inputs by the outputs in designing a controller for robot manipulator. Simulation results prove that the optimized performance obtained through CCA significantly reduces the chattering phenomena and results in better trajectory tracking compared to typical trial and error methods.
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