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International Journal of Information Engineering and Electronic Business (IJIEEB)

IJIEEB Vol. 6, No. 4, 8 Aug. 2014

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MECS Press Journal

Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor

Full Text (PDF, 787KB), PP.52-62

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Author(s)

Mahsa Piltan 1,* Farzin Piltan 1 Mojtaba Yaghoot 1 Saman Rahbar 1 Mohammad Ali Tayebi 1

1. Research and Development Department, Institute of Advance Science and Technology-SSP, Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijieeb.2014.04.08

Received: 10 May 2014 / Revised: 2 Jun. 2014 / Accepted: 10 Jul. 2014 / Published: 8 Aug. 2014

Index Terms

PID Like Fuzzy Control, Backstepping Controller, P+D Like Fuzzy Control, P+I Like Fuzzy Control, Three Dimension Spherical Motor

Abstract

The minimum rule base Proportional Integral Derivative (PID) Fuzzy backstepping Controller for three dimensions spherical motor is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PI-like controller and a PD-like fuzzy controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each dimension, this controller is work based on spherical motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear three dimension spherical motor’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

Cite This Paper

Mahsa Piltan, Farzin Piltan, Mojtaba Yaghoot, Saman Rahbar, Mohammad Ali Tayebi,"Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor", International Journal of Information Engineering and Electronic Business(IJIEEB), vol.6, no.4, pp.52-62, 2014. DOI:10.5815/ijieeb.2014.04.08

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[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 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

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