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| Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm
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Source |
International Journal of Robotics and Automation (IJRA) |
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Table of Contents |
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Volume: 2 Issue: 5 |
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Pages: NULL |
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Publication
Date: November / December 2011 |
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ISSN
(Online): 2180-1312 |
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Pages |
298 - 316 |
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Author(s) |
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Published
Date |
15-12-2011 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
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| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: Particle Swarm Optimization, Lyapunov Based Fuzzy Estimator Sliding Mode Algori, Nonlinear Fuzzy Saturation like Method, Sliding Mode Controller, Chattering Phenomenon |
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| This research is focused on novel particle swarm optimization (PSO) SISO Lyapunov based fuzzy estimator sliding mode algorithms derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. PSO SISO fuzzy compensate sliding mode method design a SISO fuzzy system to compensate for the dynamic model uncertainties of the nonlinear dynamic system and chattering also solved by nonlinear fuzzy saturation like method. Adjust the sliding function is played important role to reduce the chattering phenomenon and also design acceptable estimator applied to nonlinear classical controller so PSO method is used to off-line tuning. 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 way to reduce or eliminate chattering is to insert a nonlinear (fuzzy) boundary like layer method inside of a boundary layer around the sliding surface. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by applied fuzzy inference system into sliding mode algorithm to design and estimate model-free nonlinear dynamic equivalent part. 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 PSO method to a fuzzy sliding mode controller to tune the parameters of the fuzzy rules in use will ensure a moderate computational load. The PSO method in this algorithm is designed based on the PSO stability theorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov. |
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| Farzin Piltan : Colleagues
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| Amin Jalali : Colleagues
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| N. Sulaiman : Colleagues
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| Atefeh Gavahian : Colleagues
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| Sobhan Siamak : Colleagues
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