Kamran Heidari; Farzin Piltan; Samaneh Zahmatkesh; Sara Heidari; Mahdi Jafari

Design High Efficiency Intelligent Robust Back stepping Controller

Full Text (PDF, 1134KB), PP.22-32

Views: 0 Downloads: 0

Author(s)

Kamran Heidari ^1,* Farzin Piltan ¹ Samaneh Zahmatkesh ¹ Sara Heidari ¹ Mahdi Jafari ¹

1. Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz/Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijieeb.2013.06.03

Received: 2 Aug. 2013 / Revised: 16 Sep. 2013 / Accepted: 4 Nov. 2013 / Published: 8 Dec. 2013

Index Terms

Back stepping control methodology, fuzzy inference system, continuum robot manipulator, robust control

Abstract

The increasing demand for multi-degree-of-freedom (DOF) continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. This research contributes to the on-going research effort by exploring alternate methods for controlling the continuum robot manipulator. This research addresses two basic issues related to the control of a continuum robots; (1) a more accurate representation of the dynamic model of an existing prototype, and (2) the design of a robust feedback controller. The robust back stepping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust back stepping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to minimize the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

Cite This Paper

Kamran Heidari, Farzin Piltan, Samaneh Zahmatkesh, Sara Heidari, Mahdi Jafari, "Design High Efficiency Intelligent Robust Backstepping Controller ", International Journal of Information Engineering and Electronic Business(IJIEEB), vol.5, no.6, pp.22-32, 2013. DOI:10.5815/ijieeb.2013.06.03

Reference

[1]T. R. Kurfess, Robotics and automation handbook: CRC, 2005.

[2]J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs, NJ, 1991.

[3]L. Cheng, et al., "Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties," 2008, pp. 189-194.

[4]J. J. D'Azzo, et al., Linear control system analysis and design with MATLAB: CRC, 2003.

[5]B. Siciliano and O. Khatib, Springer handbook of robotics: Springer-Verlag New York Inc, 2008.

[6]I. Boiko, et al., "Analysis of chattering in systems with second-order sliding modes," IEEE Transactions on Automatic Control, vol. 52, pp. 2085-2102, 2007.

[7]J. Wang, et al., "Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching," Fuzzy Sets and Systems, vol. 122, pp. 21-30, 2001.

[8]F. Piltan, et al., "Artificial Control of Nonlinear Second Order Systems Based on AFGSMC," Australian Journal of Basic and Applied Sciences, 5(6), pp. 509-522, 2011.

[9]V. Utkin, "Variable structure systems with sliding modes," Automatic Control, IEEE Transactions on, vol. 22, pp. 212-222, 2002.

[10]R. A. DeCarlo, et al., "Variable structure control of nonlinear multivariable systems: a tutorial," Proceedings of the IEEE, vol. 76, pp. 212-232, 2002.

[11]K. D. Young, et al., "A control engineer's guide to sliding mode control," 2002, pp. 1-14.

[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.2013.02.0.

[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 ofFuel 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 Technique with Parallel Sliding Mode Optimization", IJITCS, vol.6, no.1, pp.101-107, 2014. DOI: 10.5815/ijitcs.2014.01.12.

International Journal of Information Engineering and Electronic Business (IJIEEB)