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International Journal of Intelligent Systems and Applications (IJISA)

IJISA Vol. 6, No. 7, 8 Jun. 2014

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MECS Press Journal

Design Minimum Rule-Base Fuzzy Inference Nonlinear Controller for Second Order Nonlinear System

Full Text (PDF, 627KB), PP.79-88

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Author(s)

Masoud Mokhtar 1,* Farzin Piltan 1 Marjan Mirshekari 1 Alireza Khalilian 1 Omid Avatefipour 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/ijisa.2014.07.10

Received: 4 Oct. 2013 / Revised: 22 Jan. 2014 / Accepted: 16 Mar. 2014 / Published: 8 Jun. 2014

Index Terms

Fuzzy Inference System, Computed Torque Controller, PD Like Fuzzy Theory, Continuum Robot Manipulator

Abstract

This research is focused on proposed minimum rule base PID computed torque algorithms with application to continuum robot manipulator. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Classical Computed Torque Controller (CTC) is robust to control model partly uncertainties and external disturbances. This controller is one of the significant nonlinear methodologies; according to the nonlinear dynamic formulation. One of the main targets in this research is increase the robustness based on the artificial intelligence methodology. Classical computed torque control has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a computed torque controller and artificial intelligence (e.g. fuzzy logic). To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This large number of fuzzy rules will cause a high computation load. To reduce the number of rule base this research is focused on the PD like fuzzy plus integral methodology. This method is applied to continuum robot manipulator to have the best performance.

Cite This Paper

Masoud Mokhtar, Farzin Piltan, Marjan Mirshekari, Alireza Khalilian, Omid Avatefipour, "Design Minimum Rule-Base Fuzzy Inference Nonlinear Controller for Second Order Nonlinear System", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.7, pp.79-88, 2014. DOI:10.5815/ijisa.2014.07.10

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[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 

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[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

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[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.

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[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.

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[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.

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[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

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[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.

[58]Ali Shahcheraghi, Farzin Piltan, Masoud Mokhtar, Omid Avatefipour, Alireza Khalilian,"Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller", IJITCS, vol.6, no.2, pp.72-83, 2014. DOI: 10.5815/ijitcs.2014.02.10

[59]Kamran Heidari, Farzin Piltan, Samaneh Zahmatkesh, Sara Heidari, Mahdi Jafari,"Design High Efficiency Intelligent Robust Backstepping Controller ", IJIEEB, vol.5, no.6, pp.22-32, 2013. DOI: 10.5815/ijieeb.2013.06.03.

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