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Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses
Farzin Piltan, Sajad Rahmdel, Saleh Mehrara, Reza Bayat
Pages - 142 - 177     |    Revised - 15-05-2012     |    Published - 20-06-2012
Volume - 6   Issue - 3    |    Publication Date - June 2012  Table of Contents
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KEYWORDS
MATLAB/SIMULINK, PUMA 560 Robot Manipulator, Nonlinear Position Control, Method, Sliding Mode Control, Computed Torque Control, Chattering Free
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, implementation and analysis of a chattering free sliding mode controller for highly nonlinear dynamic PUMA robot manipulator and compare to computed torque controller, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure sliding mode controller and computed torque 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 linear saturation function boundary layer method instead of switching function method in pure sliding mode controller. These simulation models are developed as a part of a software laboratory to support and enhance graduate/undergraduate robotics courses, nonlinear control courses and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran.
CITED BY (24)  
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2 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.
3 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.
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6 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.
7 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.
8 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.
9 Zahmatkesh, S., Piltan, F., Heidari, K., Shamsodini, M., & Heidari, S. (2013). Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control. International Journal of Intelligent Systems and Applications (IJISA), 5(11), 34.
10 Kazeminasab, M., Piltan, F., Esmaeili, Z., Mirshekaran, M., & Salehi, A. (2013). Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot. International Journal of Intelligent Systems and Applications (IJISA), 6(1), 112.
11 Heidari, S., Piltan, F., Shamsodini, M., Heidari, K., & Zahmatkesh, S. (2013). Design New Nonlinear Controller with Parallel Fuzzy Inference System Compensator to Control of Continuum Robot Manipulator. International Journal of Control and Automation, 6(4).
12 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.
13 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.
14 Bayat, R. (2013). Artificial Intelligence SVC Based Control of Two Machine Transmission System. International Journal of Intelligent Systems and Applications (IJISA), 5(8), 1.
15 Piltan, F., Bazregar, M., Akbari, M., & Piran, M. (2013). Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization. International Journal of Advances in Applied Sciences, 2(4), 171-184.
16 Park, S., & Rahmdel, S. (2013). A new fuzzy sliding mode controller with auto-adjustable saturation boundary layers implemented on vehicle suspension. Int. J. Eng. C Asp, 26(12), 1401-1410.
17 Piltan, F., Yarmahmoudi, M. H., Shamsodini, M., Mazlomian, E., & Hosainpour, A. (2012). PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses. International Journal of Robotics and Automation, (3), 167-191.
18 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.
19 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.
20 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
21 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.
22 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.
23 Rahmdel, S., & Bairami, M. (2012). Model-Free Sliding Mode Fuzzy Controller with Minimum Rule Base Implemented on Bus Suspension System. International Journal of Engineering Sciences Research (IJESR).
24 Rahmdel, S., Bairamai, M., & Fahham, M. M. H. R. (2012). Design Chattering-Free Performance-Based Fuzzy Sliding Mode Controller for Bus Suspension. International Journal of Engineering Sciences Research-IJESR, 3(05), 796-802.
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96 Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ” Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”International Journal of Robotics and Automation, 3(3): 2012.
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Dr. Farzin Piltan
SSP.CO - Iran
SSP.ROBOTIC@YAHOO.COM
Dr. Sajad Rahmdel
- Iran
Dr. Saleh Mehrara
- Iran
Dr. Reza Bayat
- Iran