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Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller With Minimum Rule Base
Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samira Soltani, Samaneh Roosta
Pages - 146 - 156     |    Revised - 01-07-2011     |    Published - 05-08-2011
Volume - 2   Issue - 3    |    Publication Date - July / August 2011  Table of Contents
MORE INFORMATION
KEYWORDS
Sliding Mode Fuzzy Controller, Robust Controller, Sliding Mode Controller, Fuzzy Logic Controller
ABSTRACT
In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTSMFC) is designed to rich the best performance. Sliding mode fuzzy controller is studied because of its model free, stable and high performance. Today, most of systems (e.g., robot manipulators) are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools (e.g., nonlinear sliding mode controller) are used in artificial intelligent control methodologies to design model free nonlinear robust controller with high performance (e.g., minimum error, good trajectory, disturbance rejection). Non linear classical theories have been applied successfully in many applications, but they also have some limitation. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages therefore this research focuses on applied sliding mode controller in fuzzy logic theory to solve the limitation in fuzzy logic controller and sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope. This paper focuses on adjusting the gain updating factor and sliding surface slope in PID like sliding mode fuzzy controller to have the best performance and reduce the limitation.
CITED BY (91)  
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12 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.
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15 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.
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17 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.
18 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.
19 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.
20 Shamsodini, M., Piltan, F., Jafari, M., Sadrnia, O. R., & Mahmoudi, O. (2013). Design Modified Fuzzy Hybrid Technique: Tuning By GDO. International Journal of Modern Education and Computer Science, 5(8), 58.
21 Piltan, F., Zare, S., ShahryarZadeh, F., & Mansoorzadeh, M. (2013). Supervised Optimization of Fuel Ratio in IC Engine Based on Design Baseline Computed Fuel Methodology. International Journal of Information Technology and Computer Science (IJITCS), 5(4), 76.
22 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.
23 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.
24 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, 5(5), 57.
25 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(5), 45-62.
26 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.
27 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, 2(4), 149.
28 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, 5(10), 53.
29 Piltan, F., Mansoorzadeh, M., Akbari, M., Zare, S., & ShahryarZadeh, F. (2013). Management of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine. Global Journal of Biodiversity Science And Management, 3(1).
30 Piltan, F., Mansoorzadeh, M., Zare, S., Shahryarzadeh, F. A. T. E. M. E. H., & 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, 3(2), 171.
31 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, 5(12), 135.
32 Haghighi, S. T., Soltani, S., Piltan, F., Kamgari, M., & Zare, S. (2013). Evaluation Performance of IC Engine: linear tunable gain computed torque controller Vs. Sliding mode controller. International Journal of Intelligent Systems and Applications, 5(6), 78.
33 Jalali, A., Piltan, F., Keshtgar, M., & Jalali, M. (2013). Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator. International Journal of Intelligent Systems and Applications, 5(7), 50.
34 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, 5(1), 1.
35 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, 5(5), 1.
36 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.
37 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, 5(1), 68.
38 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, 5(2), 59.
39 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.
40 Kada, B. (2012, March). A New Methodology to Design Sliding-PID Controllers: Application to Missile Flight Control System. In International Federation of Automatic Control IFAC Conference on Advances in PID Control, Brescia,(Italy) (Vol. 2, No. 1, pp. 673-678).
41 Piltan, F., Piran, M., Akbari, M., & Barzegar, M. (2012). Baseline tuning methodology supervisory sliding mode methodology: Applied to IC engine. International Journal of Advances in Applied Sciences, 1(3), 116-124.
42 Piltan, F., Sulaiman, N., Jalali, A., Siamak, S., & Nazari, I. (2011). Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control. International Journal of Control and Automation, 4(4), 91-110.
43 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, 4(5), 17.
44 Piltan, F., & Haghighi, S. T. (2012). Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots. IAES International Journal of Robotics and Automation, 1(4), 175.
45 Piltan, F., Rahmdel, S., Mehrara, S., & Bayat, R. (2012). Sliding mode methodology vs. Computed torque methodology using matlab/simulink and their integration into graduate nonlinear control courses. International Journal of Engineering, 6(3), 142-177.
46 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).
47 Piltan, F., Siamak, S., Bairami, M. A., & Nazari, I. (2012). Gradient descent optimal chattering free sliding mode fuzzy control design: LYAPUNOV approach. International Journal of Advanced Science and Technology, 43, 73-90.
48 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.
49 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.
50 Piltan, F., Aghayari, F., Rashidian, M. R., & Shamsodini, M. (2012). A New Estimate Sliding Mode Fuzzy Controller for Robotic Manipulator. International Journal of Robotics and Automation, 3(1), 45-58.
51 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.
52 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.
53 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, 4(11), 40.
54 Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
55 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
56 Apr, D., & Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
57 Piltan, F., Keshavarz, M., Badri, A., & Zargari, A. (2012). Design Novel Nonlinear Controller Applied to RobotManipulator: Design New Feedback Linearization Fuzzy Controller with Minimum Rule Base Tuning Method. International Journal of Robotics and Automation, 3(1), 1-12.
58 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
59 Piltan, F., Dialame, M., Zare, A., & Badri, A. (2012). Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator. International Journal of Engineering, 6(1), 25-41.
60 Piltan, F., Boroomand, B., Jahed, A., & Rezaie, H. (2012). Methodology of Mathematical Error-Based Tuning Sliding Mode Controller. International Journal of Engineering, 6(2), 96-117.
61 Seven Tir Ave, S. Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine.
62 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.
63 Piltan, F., Nazari, I., Siamak, S., & Ferdosali, P. (2012). Methodology of FPGA-based mathematical error-based tuning sliding mode controller. Methodology, 5(1).
64 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.
65 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(3), 167-191.
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67 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, 6(2), 76.
68 Piltan, F., Allahdadi, S., Mohammad, A. B., & Nasiri, H. (2011). Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator. International Journal of Robotics and Automation, 3(1), 27-44.
69 Piltan, F., Bairami, M. A., Aghayari, F., & Allahdadi, S. (2011). Design adaptive artificial inverse dynamic controller: Design sliding mode fuzzy adaptive new inverse dynamic fuzzy controller. International Journal of Robotics and Automation (IJRA), 3(1), 13.
70 Piltan, F., Sulaiman, N., Marhaban, M. H., & Ramli, R. (2011). Design On-Line Tunable Gain Artificial Nonlinear Controller. Journal of Advances In Computer Research, 2(4), 75-83.
71 Piltan, F., Sulaiman, N., Roosta, S., Marhaban, M. H., & Ramli, R. (2011). Design a new sliding mode adaptive hybrid fuzzy controller. Journal of Advanced Science & Engineering Research, 1(1), 115-123.
72 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.
73 Piltan, F., Sulaiman, N., Zare, A., Allahdadi, S., & Dialame, M. (2011). Design adaptive fuzzy inference sliding mode algorithm: applied to robot arm. International Journal of Robotics and Automation, 2(5), 283-297.
74 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.
75 Piltan, F., Sulaiman, N., Roosta, S., Gavahian, A., & Soltani, S. (2011). Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator. International Journal of Engineering, 5(5), 360-379.
76 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.
77 Seven Tir Ave, S. Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.
78 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.
79 Piltan, F., Sulaiman, N., Gavahian, A., & Marhaban, M. H. Sliding Mode Controller for robot manipulator using FPGA.
80 Piltan, F., Sulaiman, N., Rashidi, M., Tajpaikar, Z., & Ferdosali, P. (2011). Design and Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review. International Journal of Robotics and Automation, 2(5), 265-282.
81 Piltan, F., Sulaiman, N., Roosta, S., Gavahian, A., & Soltani, S. (2011). Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator. International Journal of Engineering, 5(5), 419-434.
82 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.
83 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.
84 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.
85 Piltan, F., Sulaiman, N., Ferdosali, P., & Talooki, I. A. Design Model-free Fuzzy Sliding Mode Control of Internal Combustion Engine.
86 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.
87 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.
88 Piltan, F., Sulaiman, N., Talooki, I. A., & Ferdosali, P. (2011). 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.
89 Piltan, F., & Haghighi, S. T. Design Adaptive MIMO Fuzzy Sliding Mode Algorithm Based on Inverse Dynamic Model: Applied to Second Order Nonlinear System.Piltan, F., & Haghighi, S. T. Evolutionary Design Auto Tune Sliding Surface Slope Adjust of Artificial Backstepping Applied to Artificial Estimator Sliding Mode Based Position Algorithm.
90 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.
91 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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Dr. Farzin Piltan
- Malaysia
SSP.ROBOTIC@yahoo.com
Mr. N. Sulaiman
- Malaysia
Mr. Atefeh Gavahian
- Iran
Mr. Samira Soltani
- Iran
Mr. Samaneh Roosta
- Iran