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

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Author(s)

Narges Gholami mozafari ^1,* Farzin Piltan ¹ Mohammad shamsodini ¹ Azita Yazdanpanah ¹ Ali Roshanzamir ¹

1. Laboratory of Robotics and Control Automation, Institute of Advance Science and Technology -SSP, Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.03.10

Received: 11 Apr. 2013 / Revised: 7 Aug. 2013 / Accepted: 15 Oct. 2013 / Published: 8 Feb. 2014

Index Terms

Classical Sliding Mode Controller, Robust, Uncertainties, Chattering Phenomenon, Lyapunov Theory, Fuzzy Sliding Mode Controller, Tuning Fuzzy Sliding Mode Controller, Robotic System

Abstract

Classical sliding mode controller is robust to model uncertainties and external disturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and fuzzy system together. Fuzzy rules allow fuzzy systems to approximate arbitrary continuous functions. To approximate a time-varying nonlinear system, a fuzzy system requires a large amount of fuzzy rules. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust both the premise and the consequence parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.

Cite This Paper

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", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.3, pp.96-110, 2014. DOI:10.5815/ijisa.2014.03.10

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[23]Farzin Piltan, N. Sulaiman, S.Soltani, M. H. Marhaban & R. Ramli, “An Adaptive Sliding Surface Slope Adjustment in PD Sliding Mode Fuzzy Control For Robot Manipulator”, International Journal of Control and Automation, 4 (3): 65-76, 2011.

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[26]Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari & Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine and Application to Classical Controller”, International Journal of Robotics and Automation, 2 (5):401-425, 2011.

[27]A. 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, 5(1), 2013.

[28]Farzin Piltan, N. Sulaiman & I.AsadiTalooki, “Evolutionary Design on-line Sliding Fuzzy Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine”, International Journal of Engineering Science and Technology, 3 (10):7301-7308, 2011.

[29]Farzin Piltan, Nasri B Sulaiman, Iraj Asadi Talooki & Payman Ferdosali, ”Designing On-Line Tunable Gain Fuzzy Sliding Mode Controller Using Sliding Mode Fuzzy Algorithm: Applied to Internal Combustion Engine” World Applied Science Journal (WASJ), 15 (3): 422-428, 2011.

[30]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, 5(1), 2013.

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[38]Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak & Iman Nazari, “Control of Robot Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control”, International Journal of Control and Automation, 4 (4):91-110, 2011.

[39]Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta & Samira Soltani, “On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller Based on Lyaponuv Theory”, International Journal of Robotics and Automation, 2 (5):381-400, 2011.

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[41]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, 5(8), 2013.

[42]Farzin Piltan, Sadeq Allahdadi, Mohammad A.Bairami & Hajar Nasiri, “Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 3 (1):27-44, 2011.

[43]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.

[44]Farzin Piltan, M. Keshavarz, A. Badri & A. 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.

[45]Farzin Piltan, Mohammad A.Bairami, Farid Aghayari & Sadeq Allahdadi, “Design Adaptive Artificial Inverse Dynamic Controller: Design Sliding Mode Fuzzy Adaptive New Inverse Dynamic Fuzzy Controller”, International Journal of Robotics and Automation, (1):13-26, 2012.

[46]Farzin Piltan, Sadeq Allahdadi, Mohammad A.Bairami & Hajar Nasiri, “Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 3 (1):27-44, 2012.

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[52]Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ”Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”, International Journal of Robotics and Automation, 3(3): 192-211, 2012.

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[54]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.

[55]Farzin Piltan, S. Siamak, M.A. Bairami and I. Nazari. ” Gradient Descent Optimal Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Advanced Science and Technology, 43: 73-90, 2012.

[56]Farzin Piltan, M.R. Rashidian, M. Shamsodini and S. 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.

[57]Farzin Piltan, A. Jahed, H. Rezaie and B. 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.

[58]Farzin Piltan, R. Bayat, S. Mehara and J. Meigolinedjad. ”GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace”, International Journal of Information Engineering and Electronic Business, 5: 17-26, 2012.

[59]Farzin Piltan, B. Boroomand, A. Jahed and H. Rezaie. ”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, 11: 40-52 2012.

[60]Farzin Piltan, S. Mehrara, R. Bayat and S. Rahmdel. ” Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology”, International Journal of Hybrid Information Technology, 5(4):41-54, 2012.

[61]Farzin Piltan, Shahnaz Tayebi Haghighi, “Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots”, International Journal of Robotics and Automation, 1(4): 175-189, 2012.

[62]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, 5(8), 2013.

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