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Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator
Farzin Piltan, Sadeq Allahdadi, Mohammad A. Bairami, Hajar Nasiri
Pages - 27 - 44     |    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
Sliding Mode Controller, Fuzzy Logic Methodology, Sliding Mode Fuzzy Methodology, Auto Tuning Sliding Mode Fuzzy Controller
ABSTRACT
The main target in this paper is to present the nonlinear methods in order to control the robot manipulators and also the related results. Also the important role of sliding surface slope in sliding mode fuzzy control of robot manipulator should be considered. Sliding mode controller (SMC) is a significant nonlinear controller in certain and uncertain dynamic parameters systems. To solve the chattering phenomenon, this paper complicated two methods to each other; boundary layer method and applied fuzzy logic in sliding mode methodology. To remove the chattering sliding surface slope also played important role so this paper focused on the auto tuning this important coefficient to have the best results by applied mathematical model free methodology. Auto tuning methodology has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
CITED BY (13)  
1 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.
2 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.
3 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.
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 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.
6 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.
7 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.
8 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.
9 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.
10 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.
11 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
12 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.
13 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.
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Dr. Farzin Piltan
SSP Co - Iran
SSP.ROBOTIC@yahoo.com
Mr. Sadeq Allahdadi
- Iran
Mr. Mohammad A. Bairami
- Iran
Mr. Hajar Nasiri
- Iran