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Methodology of Mathematical error-Based Tuning Sliding Mode Controller
Farzin Piltan, Bamdad Boroomand, Arman Jahed, Hossein Rezaie
Pages - 96 - 117     |    Revised - 15-03-2012     |    Published - 16-04-2012
Volume - 6   Issue - 2    |    Publication Date - April 2012  Table of Contents
MORE INFORMATION
KEYWORDS
Nonlinear Controller, Chattering Free Mathematical Error-based tuning sl, Uncertainties, Chattering Phenomenon, Robot Arm, Sliding Mode Controller
ABSTRACT
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á). Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
CITED BY (60)  
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7 Shahcheraghi, A., Piltan, F., Mokhtar, M., Avatefipour, O., & Khalilian, A. (2014). Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller. International Journal of Information Technology and Computer Science (IJITCS), 6(2), 72.
8 Avatefipour, O., Piltan, F., Nasrabad, M. R. S., Sahamijoo, G., & Khalilian, A. (2014). Design New Robust Self Tuning Fuzzy Backstopping Methodology. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(1), 49.
9 Salehi, A., Piltan, F., Mirshekaran, M., Kazeminasab, M., & Esmaeili, Z. (2014). Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control. International Journal of Information Technology and Computer Science (IJITCS), 6(4), 66.
10 Esmaieli, Z., Piltan, F., Kazeminasab, M., Salehi, A. R., & Mirshekaran, M. (2014). Design Intelligent Robust Back stepping Controller. International Journal of Modern Education and Computer Science (IJMECS), 6(1), 53.
11 Rahmani, M., Piltan, F., Matin, F., Cheraghi, H., & Sobhani, N. (2014). Design Intelligent System Compensator to Computed Torque Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(8), 87.
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13 Nazari, I., Hosainpour, A., Piltan, F., Emamzadeh, S., & Mirzaie, M. (2014). Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 6(4), 63.
14 Piran, M., Piltan, F., Akbari, M., Garg, R., & Bazregar, M. (2014). Quality Model and Artificial Intelligence Base Fuel Ratio Management with Applications to Automotive Engine. International Journal of Intelligent Systems and Applications (IJISA), 6(2), 76.
15 Khalilian, A., Sahamijoo, G., Avatefipour, O., Piltan, F., & Nasrabad, M. R. S. (2014). Design high efficiency-minimum rule base PID like fuzzy computed torque controller. International Journal of Information Technology and Computer Science (IJITCS), 6(7), 77.
16 Yazdanpanah, A., Piltan, F., Roshanzamir, A., & Mirshekari, M. (2014). Design PID Baseline Fuzzy Tuning Proportional-Derivative Coefficient Nonlinear Controller with Application to Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(5), 90.
17 Nabaee, A., Piltan, F., Ebrahimi, M., & Bazregar, M. (2014). Design intelligent robust partly linear term SMC for robot manipulator systems. International Journal of Intelligent Systems and Applications (IJISA), 6(6), 58.
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19 Mokhtar, M., Piltan, F., Mirshekari, M., Khalilian, A., & Avatefipour, O. (2014). Design minimum rule-base fuzzy inference nonlinear controller for second order nonlinear system. International Journal of Intelligent Systems and Applications (IJISA), 6(7), 79.
20 Piltan, M., Piltan, F., Yaghoot, M., Rahbar, S., & Tayebi, M. A. (2014). Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(4), 52.
21 Tayebi, M. A., Piltan, F., Piltan, M., Yaghoot, M., & Esmaeili, M. (2014). Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(10), 55.
22 Roshanzamir, A., Piltan, F., Yazdanpanah, A., & Mirshekari, M. (2014). Design Intelligent Model base Online Tuning Methodology for Nonlinear System. International Journal of Modern Education and Computer Science (IJMECS), 6(4), 46.
23 Piltan, F., Bazregar, M., Piran, M., & Akbari, M. (2014). Quality Model and Artificial Intelligence Base Fuel Ratio Management with Applications to Automotive Engine. IAES International Journal of Artificial Intelligence (IJ-AI), 3(1), 36-48.
24 Khalilian, A., Piltan, F., Avatefipour, O., Nasrabad, M. R. S., & Sahamijoo, G. (2014). Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator. International Journal of Intelligent Systems and Applications (IJISA), 6(9), 75.
25 Piltan, F., Nabaee, A., Ebrahimi, M., & Bazregar, M. (2013). Design robust fuzzy sliding mode control technique for robot manipulator systems with modeling uncertainties. International Journal of Information Technology and Computer Science (IJITCS), 5(8), 123.
26 Salehi, A., Piltan, F., Mousavi, M., Khajeh, A., & Rashidian, M. R. (2013). Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(1), 1.
27 Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator. International Journal of Control and Automation, 6(3), 15-34.
28 Piltan, F., Eram, M., Taghavi, M., Sadrnia, O. R., & Jafari, M. (2013). Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(12), 135.
29 Piltan, F., Bazregar, M., Akbari, M., & Piran, M. (2013). Adjust the fuel ratio by high impact chattering free sliding methodology with application to automotive engine. International Journal of Hybrid Information Technology, 6(1), 13-24.
30 Piltan, F., Mansoorzadeh, M., Zare, S., Shahryarzadeh, F., & Akbari, M. (2013). Artificial tune of fuel ratio: Design a novel siso fuzzy backstepping adaptive variable structure control. International Journal of Electrical and Computer Engineering (IJECE), 3(2), 171-185.
31 Jahed, A., Piltan, F., Rezaie, H., & Boroomand, B. (2013). Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. International Journal of Information Engineering & Electronic Business, 5(3).
32 Piltan, F., Yarmahmoudi, M., Mirzaie, M., Emamzadeh, S., & Hivand, Z. (2013). Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(5), 1.
33 Mirshekaran, M., Piltan, F., Esmaeili, Z., Khajeaian, T., & Kazeminasab, M. (2013). Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator. International Journal of Modern Education and Computer Science (IJMECS), 5(10), 53.
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35 Piltan, F., Emamzadeh, S., Heidari, S., Zahmatkesh, S., & Heidari, K. (2013). Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot. International Journal of Engineering and Manufacturing, 3(2), 51-72.
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51 Piltan, F., Bayat, R., Aghayari, F., & Boroomand, B. (2012). Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller. International Journal of Robotics and Automation, 3(3), 151-166.
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Dr. Farzin Piltan
SSP CO - Iran
SSP.ROBOTIC@YAHOO.COM
Mr. Bamdad Boroomand
- Iran
Mr. Arman Jahed
- Iran
Mr. Hossein Rezaie
- Iran


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