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Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach
Farzin Piltan, Ali Hosainpour, Ebrahim Mazlomian, Mohammad Shamsodini, Mohammad Hossein Yarmahmoudi
Pages - 77 - 105     |    Revised - 15-05-2012     |    Published - 20-06-2012
Volume - 3   Issue - 3    |    Publication Date - May / June 2012  Table of Contents
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KEYWORDS
Robot Manipulator, Sliding Mode Controller, Sliding Mode Fuzzy Controller, Adaptive Methodology, Fuzzy on-line Tune Sliding Mode Fuzzy Controller, Lyapunov- based
ABSTRACT
This paper expands a sliding mode fuzzy controller which sliding surface gain is on-line tuned by minimum fuzzy inference algorithm. The main goal is to guarantee acceptable trajectories tracking between the second order nonlinear system (robot manipulator) actual and the desired trajectory. The fuzzy controller in proposed sliding mode fuzzy controller is based on Mamdani’s fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The outputs represent torque, respectively. The fuzzy inference system methodology is on-line tune the sliding surface gain based on error-based fuzzy tuning methodology. Pure sliding mode fuzzy controller has difficulty in handling unstructured model uncertainties. To solve this problem applied fuzzy-based tuning method to sliding mode fuzzy controller for adjusting the sliding surface gain (ë ). Since the sliding surface gain (ë) is adjusted by fuzzy-based tuning method, it is nonlinear and continuous. Fuzzy-based tuning sliding mode fuzzy controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in fuzzy-based tuning sliding mode fuzzy controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12).
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1 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.
2 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.
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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 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.
6 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.
7 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.
8 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.
9 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.
10 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.
11 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.
12 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.
13 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.
14 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.
15 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.
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 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.
18 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.
19 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.
20 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.
21 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.
22 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.
23 Piltan, F., Bazregar, M., Piran, M., & Akbari, M. (2014). Quality Model and Artificial Intelligence Base Fuel Ratio Management with Applications to Automotive Engine. IAES International Journal of Artificial Intelligence (IJ-AI), 3(1), 36-48.
24 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.
25 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.
26 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.
27 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.
28 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.
29 Ebrahimi, M. M., Piltan, F., Bazregar, M., & Nabaee, A. (2013). Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator. International Journal of Control and Automation, 6(3), 15-34.
30 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.
31 Piltan, F., Bazregar, M., Akbari, M., & Piran, M. (2013). Adjust the fuel ratio by high impact chattering free sliding methodology with application to automotive engine. International Journal of Hybrid Information Technology, 6(1), 13-24.
32 Piltan, F., Mansoorzadeh, M., Zare, S., Shahryarzadeh, F., & 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 (IJECE), 3(2), 171-185.
33 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).
34 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.
35 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.
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37 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.
38 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.
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43 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.
44 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.
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51 Piltan, F., Mirzaei, M., Shahriari, F., Nazari, I., & Emamzadeh, S. (2012). Design Baseline Computed Torque Controller. International Journal of Engineering, 6(3), 129-141.
52 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.
53 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.
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Dr. Farzin Piltan
SSP.CO - Iran
SSP.ROBOTIC@YAHOO.COM
Dr. Ali Hosainpour
- Iran
Dr. Ebrahim Mazlomian
- Iran
Dr. Mohammad Shamsodini
- Iran
Dr. Mohammad Hossein Yarmahmoudi
- Iran


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