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International Journal of Intelligent Systems and Applications (IJISA)

IJISA Vol. 6, No. 9, 8 Aug. 2014

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Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator

Full Text (PDF, 708KB), PP.75-86

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Author(s)

Alireza Khalilian 1,* Farzin Piltan 1 Omid Avatefipour 1 Mahmoud Reza Safaei Nasrabad 1 Ghasem Sahamijoo 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.2014.09.10

Received: 5 Dec. 2013 / Revised: 10 Mar. 2014 / Accepted: 10 May 2014 / Published: 8 Aug. 2014

Index Terms

Adaptive Fuzzy Sliding Mode Algorithm, Continuum Robot, Lyapunov Based, Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm, Chattering Phenomenon, Fuzzy Logic Controller, Adaptive Law

Abstract

This research is focused on proposed adaptive fuzzy sliding mode algorithms with the adaptation laws derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Adaptive MIMO fuzzy compensate fuzzy sliding mode method design a MIMO fuzzy system to compensate for the model uncertainties of the system, and chattering also solved by new adaption method. Since there is no tuning method to adjust the premise part of fuzzy rules so we presented a scheme to online tune consequence part of fuzzy rules. Classical sliding mode control is robust to control model uncertainties and external disturbances. A sliding mode method with a switching control low guarantees the stability of the certain and/or uncertain system, but the addition of the switching control low introduces chattering into the system. One of the main targets in this research to reduce or eliminate chattering is to insert online tuning method. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode 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. 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. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov. This method is applied to continuum robot manipulator to have the best performance.

Cite This Paper

Alireza Khalilian, Farzin Piltan, Omid Avatefipour, Mahmoud Reza Safaei Nasrabad, Ghasem Sahamijoo, "Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.9, pp.75-86, 2014. DOI:10.5815/ijisa.2014.09.10

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[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

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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 

[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.

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[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.

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