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

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Author(s)

Farzin Piltan ^1,* Mahdi Jafari ¹ Mehdi Eram ¹ Omid Mahmoudi ¹ Omid Reza Sadrnia ¹

1. SanatkadeheSabze Pasargad Company (S.S.P. Co), Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijem.2013.01.04

Received: 7 Mar. 2013 / Revised: 10 Apr. 2013 / Accepted: 22 May 2013 / Published: 29 Jun. 2013

Index Terms

Fuzzy inference system, Mamdani fuzzy inference engine, sliding mode control, continuum robot, PD plus gravity

Abstract

Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) plus gravity controller is proposed for highly nonlinear continuum robot manipulator. Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. In order to provide high performance in nonlinear systems, switching partly sliding mode plus gravity controller is selected. Pure switching partly sliding mode plus gravity controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. Conversely, this method is used in many applications; it must to solve chattering phenomenon which it can cause some problems such as saturation and heat the mechanical parts of continuum robot manipulators or drivers. In order to solve the chattering phenomenon, 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 parallel applied to pure switching partly sliding mode plus gravity controller. The results demonstrate that this method is a model-free controllers which works well in certain and partly uncertain system.

Cite This Paper

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", IJEM, vol.3, no.1, pp.38-57, 2013. DOI: 10.5815/ijem.2013.01.04

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[50]Farzin Piltan , M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.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): 2012.

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