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Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Feedback Linearization Fuzzy Controller With Minimum Rule Base Tuning Method
Farzin Piltan , Mohammad Keshavarz, Ali Badri, Arash Zargari
Pages - 1 - 12     |    Revised - 15-01-2012     |    Published - 21-02-2012
Volume - 3   Issue - 1    |    Publication Date - January / February 2012  Table of Contents
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KEYWORDS
Feedback Linearization Controller, Fuzzy Logic Methodology, Feedback linearization Fuzzy Controller, Adaptive Methodology, Fuzzy Adaptive Feedback Linearization Fuzzy Method
ABSTRACT
In this paper, fuzzy adaptive base tuning feedback linearization fuzzy methodology to adaption gain is introduced. The system performance in feedback linearization controller and feedback linearization fuzzy controller are sensitive to the main controller coefficient. Therefore, compute the optimum value of main controller coefficient for a system is the main important challenge work. This problem has solved by adjusting main fuzzy controller continuously in real-time. In this way, the overall system performance has improved with respect to the classical feedback linearization controller and feedback linearization fuzzy controller. Adaptive feedback linearization fuzzy controller solved external disturbance as well as mathematical nonlinear equivalent part by applied fuzzy supervisory method in feedback linearization fuzzy controller. The addition of an adaptive law to a feedback linearization fuzzy controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust coefficient parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.
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2 Barbălată, C., Dunnigan, M. W., & Pétillot, Y. (2015). Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. IFAC-PapersOnLine, 48(2), 44-49.
3 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.
4 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.
5 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.
6 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.
7 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.
8 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.
9 Mirzadeh, M., Haghighi, M., Khezri, S., Mahmoodi, J., & Karbasi, H. (2014). Design Adaptive Fuzzy Inference Controller for Robot Arm. International Journal of Information Technology and Computer Science (IJITCS), 6(9), 66.
10 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.
11 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.
12 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.
13 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.
14 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.
15 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.
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 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.
18 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.
19 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.
20 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.
21 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.
22 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.
23 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.
24 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.
25 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.
26 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.
27 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.
28 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.
29 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.
30 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.
31 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.
32 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.
33 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.
34 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.
35 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.
36 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.
37 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.
38 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.
39 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.
40 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.
41 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).
42 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.
43 Piltan, F., Rafaati, M. J., Khazaeni, F., Hosainpour, A., & Soltani, S. (2013). A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator. International Journal of Information Engineering and Electronic Business (IJIEEB), 5(1), 17.
44 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.
45 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.
46 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.
47 Seven Tir Ave, S. Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System.
48 Seven Tir Ave, S. Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
49 Piltan, F., Mehrara, S., Bayat, R., & Rahmdel, S. (2012). Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology.
50 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.
51 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.
52 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.
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.
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Dr. Farzin Piltan
SSP Co - Iran
SSP.ROBOTIC@yahoo.com
Mr. Mohammad Keshavarz
- Iran
Mr. Ali Badri
- Iran
Mr. Arash Zargari
- Iran