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Design of FPGA-based Sliding Mode Controller for Robot Manipulator
Farzin Piltan, N. Sulaiman, M. H. Marhaban, Adel Nowzary, Mostafa Tohidian
Pages - 173 - 194     |    Revised - 01-07-2011     |    Published - 05-08-2011
Volume - 2   Issue - 3    |    Publication Date - July / August 2011  Table of Contents
MORE INFORMATION
KEYWORDS
Robot Manipulator, Sliding Mode Controller, Chattering Phenomenon, FPGA, VHDL Language
ABSTRACT
One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At present, robot manipulators is used in unknown and unstructured situation and caused to provide complicated systems, consequently strong mathematical tools are used in new control methodologies to design nonlinear robust controller with satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Robotic systems controlling is vital due to the wide range of application. Obviously stability and robustness are the most minimum requirements in control systems; even though the proof of stability and robustness is more important especially in the case of nonlinear systems. One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems is sliding mode controller (SMC). Chattering phenomenon is the most important challenge in this controller. Most of nonlinear controllers need real time mobility operation; one of the most important devices which can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is designed using VHDL language for implementation on FPGA device (XA3S1600E-Spartan-3E), with minimum chattering and high processing speed (63.29 MHz).
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29 Jalali, A., Piltan, F., Gavahian, A., & Jalali, M. (2013). Model-free adaptive fuzzy sliding mode controller optimized by particle swarm for robot manipulator. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(1), 68.
30 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.
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32 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, 5(9), 103.
33 Shamsodini, M., Manei, R., Bekter, A., Ranjbar, B., & Soltani, S. (2013). Design a New Fuzzy Optimize Robust Sliding Surface Gain in Nonlinear Controller. International Journal of Intelligent Systems and Applications, 5(12), 91.
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70 Piltan, F., Sulaiman, N. A. S. I. R. I., & AsadiTalooki, I. (2011). 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.
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72 Piltan, F., Sulaiman, N., Gavahian, A., Roosta, S., & Soltani, S. (2011). 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.
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74 Piltan, F., Sulaiman, N., Jalali, A., & Aslansefat, K. (2011). 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.
75 Piltan, F., Sulaiman, N., Ferdosali, P., Rashidi, M., & Tajpeikar, Z. (2011). Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System. International Journal of Engineering, 5(5), 380-398.
76 Piltan, F., Sulaiman, N., Allahdadi, S., Dialame, M., & Zare, A. (2011). 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.
77 Piltan, F., Sulaiman, N., Jalali, A., & Narouei, F. D. (2011). 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.
78 Piltan, F., Sulaiman, N., Ferdosali, P., & Talooki, I. A. (2011). Design Model Free Fuzzy Sliding Mode Control: Applied to Internal Combustion Engine. International Journal of Engineering, 5(4), 302-312.
79 Piltan, F., Sulaiman, N., Nasiri, H., Allahdadi, S., & Bairami, M. A. (2011). 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.
80 Piltan, F., Jalali, A., Sulaiman, N., Gavahian, A., & Siamak, S. (2011). 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.
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82 Piltan, F., Sulaiman, N., Zargari, A., Keshavarz, M., & Badri, A. (2011). 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.
83 Piltan, F., Haghighi, S. T., Sulaiman, N., Nazari, I., & Siamak, S. (2011). 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.
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Mr. Farzin Piltan
SSP Co. - Malaysia
SSP.ROBOTIC@yahoo.com
Dr. N. Sulaiman
UPM - Malaysia
Mr. M. H. Marhaban
- Malaysia
Dr. Adel Nowzary
- Iran
Mr. Mostafa Tohidian
- Iran