Home   >   CSC-OpenAccess Library   >    Manuscript Information
Full Text Available

(964.81KB)
This is an Open Access publication published under CSC-OpenAccess Policy.
Publications from CSC-OpenAccess Library are being accessed from over 74 countries worldwide.
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)  
1 Siahbazi, A., Barzegar, A., Vosoogh, M., Mirshekaran, A. M., & Soltani, S. (2014). Design Modified Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Spherical Motor. International Journal of Intelligent Systems and Applications (IJISA), 6(3), 12.
2 Matin, F., Piltan, F., Cheraghi, H., Sobhani, N., & Rahmani, M. (2014). Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor. International Journal of Information Engineering and Electronic Business (IJIEEB), 6(2), 53.
3 Yaghoot, M., Piltan, F., Esmaeili, M., Tayebi, M. A., & Piltan, M. (2014). Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor. International Journal of Modern Education and Computer Science (IJMECS), 6(3), 61.
4 Bazregar, M., Piltan, F., Nabaee, A., & Ebrahimi, M. (2014). Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot. International Journal of Information Technology and Computer Science (IJITCS), 6(3), 82.
5 Mozafari, N. G., Piltan, F., Shamsodini, M., Yazdanpanah, A., & Roshanzamir, A. (2014). On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(3), 96.
6 Barzegar, A., Piltan, F., Vosoogh, M., Mirshekaran, A. M., & Siahbazi, A. (2014). Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor. International Journal of Information Technology and Computer Science (IJITCS), 6(5), 72.
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.
12 Khajeh, A., Piltan, F., Rashidian, M. R., & Salehi, A. (2014). Design new intelligent PID like fuzzy backstepping controller. International Journal of Modern Education and Computer Science (IJMECS), 6(2), 15.
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.
18 Piltan, F., Rahbar, S., Pooladi, E., & Davarpanah, H. (2014). Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor. International Journal of Modern Education and Computer Science (IJMECS), 6(5), 60.
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.
34 Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(5), 57.
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.
36 Jalali, A., Piltan, F., Hashemzadeh, M., BibakVaravi, F., & Hashemzadeh, H. (2013). Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot. International Journal of Information Technology and Computer Science (IJITCS), 5(12), 97.
37 Piltan, F., Hosainpour, A., Emamzadeh, S., Nazari, I., & Mirzaie, M. (2013). Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator. IAES International Journal of Robotics and Automation (IJRA), 2(4), 149-162.
38 Moosavi, M., Eram, M., Khajeh, A., Mahmoudi, O., & Piltan, F. (2013). Design New Artificial Intelligence Base Modified PID Hybrid Controller for Highly Nonlinear System. International Journal of Advanced Science and Technology, 57.
39 Jalali, A., Piltan, F., Hashemzadeh, H., Hasiri, A., & Hashemzadeh, M. (2013). Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System. International Journal of Intelligent Systems and Applications (IJISA), 5(10), 93.
40 Piltan, F., Jafari, M., Eram, M., Mahmoudi, O., & Sadrnia, O. R. (2013). Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System. International Journal of Engineering and Manufacturing (IJEM), 3(1), 38.
41 Shamsodini, M., Piltan, F., Jafari, M., reza Sadrnia, O., & Mahmoudi, O. (2013). Design Modified Fuzzy Hybrid Technique: Tuning By GDO. International Journal of Modern Education and Computer Science (IJMECS), 5(8), 58.
42 Piltan, F., Bairami, M. A., Aghayari, F., & Rashidian, M. R. (2013). Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator. International Journal of Information Technology and Computer Science (IJITCS), 5(7), 103.
43 Bazregar, M., Piltan, F., Akbari, M., & Piran, M. (2013). Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization. International Journal of Information Technology and Computer Science (IJITCS), 6(1), 101.
44 Heidari, K., Piltan, F., Zahmatkesh, S., Heidari, S., & Jafari, M. (2013). Design High Efficiency Intelligent Robust Backstepping Controller. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(6), 22.
45 Piltan, F., Mehrara, S., Meigolinedjad, J., & Bayat, R. (2013). Design Serial Fuzzy Variable Structure Compensator for Linear PD Controller: Applied to Rigid Robot. International Journal of Information Technology and Computer Science (IJITCS), 5(11), 111.
46 Piltan, F., Badri, A., Meigolinedjad, J., & Keshavarz, M. (2013). Adaptive Artificial Intelligence Based Model Base Controller: Applied to Surgical Endoscopy Telemanipulator. International Journal of Intelligent Systems and Applications (IJISA), 5(9), 103.
47 Piltan, F., Piran, M., Bazregar, M., & Akbari, M. (2013). Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio. International Journal of Intelligent Systems and Applications (IJISA), 5(2), 59.
48 Piltan, F., Mehrara, S., Bayat, R., & Rahmdel, S. (2012). Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
49 Piltan, F., & Haghighi, S. T. (2012). Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots. IAES International Journal of Robotics and Automation (IJRA), 1(4), 175-189.
50 Piltan, F., Bayat, R., Mehara, S., & Meigolinedjad, J. (2012). GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace. International Journal of Information Engineering and Electronic Business (IJIEEB), 4(5), 17.
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.
52 Piltan, F., Akbari, M., Piran, M., & Bazregar, M. (2012). Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine. International Journal of Information Technology and Computer Science (IJITCS), 5(1), 65.
53 Piltan, F., Jahed, A., Rezaie, H., & Boroomand, B. (2012). 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.
54 Piltan, F., Meigolinedjad, J., Mehrara, S., & Rahmdel, S. (2012). Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology. International Journal of Robotics and Automation, 3(3), 192-211.
55 Piltan, F., Boroomand, B., Jahed, A., & Rezaie, H. (2012). Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology. International Journal of Intelligent Systems and Applications (IJISA), 4(11), 40.
56 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
57 Piltan, F., Hosainpour, A., Mazlomian, E., Shamsodini, M., & Yarmahmoudi, M. H. (2012). Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach. International Journal of Robotics and Automation, 3(3), 77-105.
58 Piltan, F., Emamzadeh, S., Hivand, Z., Shahriyari, F., & Mirazaei, M. (2012). PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses. International Journal of Robotics and Automation, 3(3), 106-150.
59 Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
60 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
1 Google Scholar 
2 CiteSeerX 
3 refSeek 
4 Scribd 
5 SlideShare 
6 PdfSR 
1 T. R. Kurfess, Robotics and automation handbook: CRC, 2005.
2 J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs, NJ, 1991.
3 K. Ogata, Modern control engineering: Prentice Hall, 2009.
4 L. Cheng, Z. G. Hou, M. Tan, D. Liu and A. M. Zou, "Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties," 2008, pp. 189-194.
5 J. J. D'Azzo, C. H. Houpis and S. N. Sheldon, Linear control system analysis and design with MATLAB: CRC, 2003.
6 B. Siciliano and O. Khatib, Springer handbook of robotics: Springer-Verlag New York Inc,2008.
7 I. Boiko, L. Fridman, A. Pisano and E. Usai, "Analysis of chattering in systems with second-order sliding modes," IEEE Transactions on Automatic Control, No. 11, vol.52,pp. 2085-2102, 2007.
8 J. Wang, A. Rad and P. Chan, "Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching," Fuzzy Sets and Systems, No. 1, vol. 122,pp. 21-30, 2001.
9 C. Wu, "Robot accuracy analysis based on kinematics," IEEE Journal of Robotics and Automation, No. 3, vol. 2, pp. 171-179, 1986.
10 H. Zhang and R. P. Paul, "A parallel solution to robot inverse kinematics," IEEE conference proceeding, 2002, pp. 1140-1145.
11 J. Kieffer, "A path following algorithm for manipulator inverse kinematics," IEEE conference proceeding, 2002, pp. 475-480.
12 Z. Ahmad and A. Guez, "On the solution to the inverse kinematic problem(of robot),"IEEE conference proceeding, 1990, pp. 1692-1697.
13 F. T. Cheng, T. L. Hour, Y. Y. Sun and T. H. Chen, "Study and resolution of singularities for a 6-DOF PUMA manipulator," Systems, Man, and Cybernetics, Part B: Cybernetics,IEEE Transactions on, No. 2, vol. 27, pp. 332-343, 2002.
14 M. W. Spong and M. Vidyasagar, Robot dynamics and control: Wiley-India, 2009.
15 A. Vivas and V. Mosquera, "Predictive functional control of a PUMA robot," Conference Proceedings, 2005.
16 D. Nguyen-Tuong, M. Seeger and J. Peters, "Computed torque control with nonparametric regression models," IEEE conference proceeding, 2008, pp. 212-217.
17 V. Utkin, "Variable structure systems with sliding modes," Automatic Control, IEEE Transactions on, No. 2, vol. 22, pp. 212-222, 2002.
18 R. A. DeCarlo, S. H. Zak and G. P. Matthews, "Variable structure control of nonlinear multivariable systems: a tutorial," Proceedings of the IEEE, No. 3, vol. 76, pp. 212-232,2002.
19 K. D. Young, V. Utkin and U. Ozguner, "A control engineer's guide to sliding mode control,"IEEE conference proceeding, 2002, pp. 1-14.
20 O. Kaynak, "Guest editorial special section on computationally intelligent methodologies and sliding-mode control," IEEE Transactions on Industrial Electronics, No. 1, vol. 48, pp.2-3, 2001.
21 J. J. Slotine and S. Sastry, "Tracking control of non-linear systems using sliding surfaces,with application to robot manipulators†," International Journal of Control, No. 2, vol. 38,pp. 465-492, 1983.
22 J. J. E. Slotine, "Sliding controller design for non-linear systems," International Journal of Control, No. 2, vol. 40, pp. 421-434, 1984.
23 R. Palm, "Sliding mode fuzzy control," IEEE conference proceeding,2002, pp. 519-526.
24 C. C. Weng and W. S. Yu, "Adaptive fuzzy sliding mode control for linear time-varying uncertain systems," IEEE conference proceeding, 2008, pp. 1483-1490.
25 M. Ertugrul and O. Kaynak, "Neuro sliding mode control of robotic manipulators,"Mechatronics Journal, No. 1, vol. 10, pp. 239-263, 2000.
26 P. Kachroo and M. Tomizuka, "Chattering reduction and error convergence in the slidingmode control of a class of nonlinear systems," Automatic Control, IEEE Transactions on,No. 7, vol. 41, pp. 1063-1068, 2002.
27 H. Elmali and N. Olgac, "Implementation of sliding mode control with perturbation estimation (SMCPE)," Control Systems Technology, IEEE Transactions on, No. 1, vol. 4,pp. 79-85, 2002.
28 J. Moura and N. Olgac, "A comparative study on simulations vs. experiments of SMCPE,"IEEE conference proceeding, 2002, pp. 996-1000.
29 Y. Li and Q. Xu, "Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator," Control Systems Technology, IEEE Transactions on, No. 4, vol. 18, pp. 798-810, 2010.
30 B. Wu, Y. Dong, S. Wu, D. Xu and K. Zhao, "An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform," IEEE conference proceeding, 2006, pp. 5-945.
31 Farzin Piltan , N. Sulaiman, Zahra Tajpaykar, Payman Ferdosali, Mehdi Rashidi, “Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tunable Gain,”International Journal of Robotic and Automation, 2 (3): 205-220, 2011.
32 Farzin Piltan, A. R. Salehi and Nasri B Sulaiman.,” Design artificial robust control of second order system based on adaptive fuzzy gain scheduling,” world applied science journal (WASJ), 13 (5): 1085-1092, 2011
33 Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samira Soltani, Samaneh Roosta, “Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule Base,” International Journal of Robotic and Automation, 2 (3): 146-156, 2011.
34 Farzin Piltan , A. Zare, Nasri B. Sulaiman, M. H. Marhaban and R. Ramli, , “A Model Free Robust Sliding Surface Slope Adjustment in Sliding Mode Control for Robot Manipulator,” World Applied Science Journal, 12 (12): 2330-2336, 2011.
35 Farzin Piltan , A. H. Aryanfar, Nasri B. Sulaiman, M. H. Marhaban and R. Ramli “Design Adaptive Fuzzy Robust Controllers for Robot Manipulator,” World Applied Science Journal, 12 (12): 2317-2329, 2011.
36 Farzin Piltan, N. Sulaiman , Arash Zargari, Mohammad Keshavarz, Ali Badri , “Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator,” International Journal of Artificial intelligence and expert system, 2 (4):184-195, 2011.
37 Farzin Piltan, Nasri Sulaiman, M. H. Marhaban and R. Ramli, “Design On-Line Tunable Gain Artificial Nonlinear Controller,” Journal of Advances In Computer Research, 2 (4):75-83, 2011.
38 Farzin Piltan, N. Sulaiman, Payman Ferdosali, Iraj Assadi Talooki, “ Design Model Free Fuzzy Sliding Mode Control: Applied to Internal Combustion Engine,” International Journal of Engineering, 5 (4):302-312, 2011.
39 Farzin Piltan, N. Sulaiman, Samaneh Roosta, M.H. Marhaban, R. Ramli, “Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller,” Journal of Advanced Science & Engineering Research , 1 (1): 115-123, 2011.
40 Farzin Piltan, Atefe Gavahian, N. Sulaiman, M.H. Marhaban, R. Ramli, “Novel Sliding Mode Controller for robot manipulator using FPGA,” Journal of Advanced Science & Engineering Research, 1 (1): 1-22, 2011.
41 Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System,”International Journal of Robotics and Automation, 2 (4):232-244, 2011.
42 Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki, Payman Ferdosali, “Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control ,” International Journal of Robotics and Automation, 2 (5):360-380,2011.
43 Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi, Zahra Tajpeikar, “Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System,” International Journal of Engineering, 5 (5): 380-398, 2011.
44 Farzin Piltan, N. Sulaiman, Hajar Nasiri, Sadeq Allahdadi, Mohammad A. Bairami, “Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method,” International Journal of Engineering, 5(5): 399-418, 2011.
45 Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame, Abbas Zare,“Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy Sliding Mode Control,” International Journal of Artificial intelligence and Expert System, 2 (5):208-228, 2011.
46 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.
47 Farzin Piltan, N. Sulaiman, Abbas Zare, Sadeq Allahdadi, Mohammadali Dialame,“Design Adaptive Fuzzy Inference Sliding Mode Algorithm: Applied to Robot Arm,”International Journal of Robotics and Automation , 2 (5): 283-297, 2011.
48 Farzin Piltan, Amin Jalali, N. Sulaiman, Atefeh Gavahian, Sobhan Siamak, “Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm ,” International Journal of Robotics and Automation,2 (5): 298-316, 2011.
49 Farzin Piltan, N. Sulaiman, Amin Jalali, Koorosh Aslansefat, “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator,” International Journal of Robotics and Automation, 2 (5):317-343, 2011.
50 Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian, Samira Soltani,“Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm:Applied to Robot Manipulator,” International Journal of Engineering, 5 (5):419-434, 2011.
51 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.
52 Farzin Piltan, N. Sulaiman, Mehdi Rashidi, Zahra Tajpaikar, Payman Ferdosali, “Design and Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review ,”International Journal of Robotics and Automation, 2 (5):265-282, 2011.
53 Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak, and 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.
54 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.
55 Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian, Samira Soltani, “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator,” International Journal of Engineering, 5 (5):360-379, 2011.
56 Farzin Piltan, N. Sulaiman and 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.
57 Farzin Piltan, Nasri B Sulaiman, Iraj Asadi Talooki and 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
58 B. K. Yoo and W. C. Ham, "Adaptive control of robot manipulator using fuzzy compensator," Fuzzy Systems, IEEE Transactions on, No. 2, vol. 8, pp. 186-199, 2002.
59 H. Medhaffar, N. Derbel and T. Damak, "A decoupled fuzzy indirect adaptive slidingmode controller with application to robot manipulator," International Journal of Modelling,Identification and Control, No. 1, vol. 1, pp. 23-29, 2006.
60 Y. Guo and P. Y. Woo, "An adaptive fuzzy sliding mode controller for robotic manipulators," Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on, No. 2, vol. 33, pp. 149-159, 2003.
61 C. M. Lin and C. F. Hsu, "Adaptive fuzzy sliding-mode control for induction servomotor systems," Energy Conversion, IEEE Transactions on, No. 2, vol. 19, pp. 362-368, 2004.
62 Xiaosong. Lu, "An investigation of adaptive fuzzy sliding mode control for robot manipulator," Carleton university Ottawa,2007.
63 S. Lentijo, S. Pytel, A. Monti, J. Hudgins, E. Santi and G. Simin, "FPGA based sliding mode control for high frequency power converters," IEEE Conference, 2004, pp. 3588-3592.
64 B. S. R. Armstrong, "Dynamics for robot control: friction modeling and ensuring excitation during parameter identification," 1988.
65 C. L. Clover, "Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications," 1996.
66 K. R. Horspool, Cartesian-space Adaptive Control for Dual-arm Force Control Using Industrial Robots: University of New Mexico, 2003.
67 B. Armstrong, O. Khatib and J. Burdick, "The explicit dynamic model and inertial parameters of the PUMA 560 arm," IEEE Conference, 2002, pp. 510-518.
68 P. I. Corke and B. Armstrong-Helouvry, "A search for consensus among model parameters reported for the PUMA 560 robot," IEEE Conference, 2002, pp. 1608-1613.
69 Farzin Piltan, N. Sulaiman, M. H. Marhaban, Adel Nowzary, Mostafa Tohidian,” “Design of FPGA based sliding mode controller for robot manipulator,” International Journal of Robotic and Automation, 2 (3): 183-204, 2011.
70 I. Eksin, M. Guzelkaya and S. Tokat, "Sliding surface slope adjustment in fuzzy sliding mode controller," Mediterranean Conference, 2002, pp. 160-168.
Dr. Farzin Piltan
SSP CO - Iran
SSP.ROBOTIC@YAHOO.COM
Mr. Bamdad Boroomand
- Iran
Mr. Arman Jahed
- Iran
Mr. Hossein Rezaie
- Iran