INFORMATION CHANGE THE WORLD

International Journal of Modern Education and Computer Science (IJMECS)

ISSN: 2075-0161 (Print), ISSN: 2075-017X (Online)

Published By: MECS Press

IJMECS Vol.6, No.5, May. 2014

Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor

Full Text (PDF, 574KB), PP.60-68


Views:57   Downloads:4

Author(s)

Mohammad shamsodini, Farzin Piltan, Saman Rahbar, Ehsan Pooladi, Hossein Davarpanah

Index Terms

PID like fuzzy control;computed torque controller;PD like fuzzy control; conventional PI control;three degrees of freedom spherical motor

Abstract

The minimum rule base Proportional Integral Derivative (PID) Fuzzy Computed Torque Controller with application to spherical motor is presented in this research. The popularity of PID Fuzzy Computed Torque Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and acceptable trajectory follow disturbance to control of spherical motor. However computed torque controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation. This research is used to reduce or eliminate the computed torque controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

Cite This Paper

Mohammad shamsodini, Farzin Piltan, Saman Rahbar, Ehsan Pooladi, Hossein Davarpanah,"Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor ", IJMECS, vol.6, no.5, pp.60-68, 2014.DOI: 10.5815/ijmecs.2014.05.08

Reference

[1]Vachtsevanos, G. I., Davey, K. and Lee, K. M., "Development of a Novel Intelligent Robotic Manipulator," IEEE Control System Magazine, 1987, pp.9-15.

[2]Davey, K., Vachtsevanos, G. I., and Powers, R., "An analysis of Fields and Torques in Spherical Induction Motors," lEE Transactions on Magnetics, Vol. MAG-23, 1987, pp. 273-282.

[3]Foggia, A., Oliver, E., Chappuis, F., "New Three Degrees of Freedom Electromagnetic Actuator," Conference Record -lAS Annual Meeting, Vol. 35, New York, 1988.

[4]Lee, K. M., Vachtsevanos, G. and Kwan, C-K., "Development of a Spherical Wrist Stepper Motor," Proceedings of the 1988 IEEE lntemational Conference on Robotics and Automation, Philadelphia, PA. April 26-29.

[5]Lee, K. M., Pei. I., "Kinematic Analysis of a Three Degree-of-Freedom Spherical Wrist Actuator," The Fifth International Conference on Advanced Robotics, Italy, 1991.

[6]Wang, I., Jewel, G., Howe, D., "Modeling of a Novel Spherical Pennanent Magnet Actuator," Proceedings of IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp 1190-1195, 1997.

[7]Wang, I., Jewel, G., Howe, D.,"Analysis, Design and Control of a Novel Spherical Pennanent Magnet Actuator," lEE Proceedings on Electrical Power Applications., vol. 154, no. 1, 1998.

[8]Chirikjian, G. S., and Stein, D., "Kinematic Design and Commutation of a Spherical Stepper Motor," IEEEIASME Transactions on Mechatronics, vol. 4, n 4, Piscataway, New Jersey, pp. 342-353, Dec. 1999.

[9]Kahlen, K., and De Doncker, R. W., "CW'l'ent Regulator for Multi-phase Pennanent Magnet Spherical Machines." Industry Applications Conference Record of the 2000 IEEE, vol. 3, 2000, pp. 2011-2016.

[10]Lee, K. M., Pei, I., and Gilboa, U., "On the Development of a Spherical Wrist Actuator," Proceedings of the 16th NSF Conference on Manufacturing Systems Research, Tempe AZ, January 8-12, 1990.

[11]Yang, C., Back, Y. S., "Design and Control of the 3-dcgn: es of freedom actuator by Controlling the Electromagnetic Force," IEEE Transactions on Magnetics, May, 1999, pp. 3607-3609.

[12]Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain”, World Applied Science Journal (WASJ), 14 (9): 1306-1312, 2011.

[13]Farzin Piltan, Mohammadali Dialame, Abbas Zare & Ali Badri,“Design Novel Lookup Table Changed Auto Tuning FSMC:Applied to Robot Manipulator”, International Journal of Engineering, 6 (1):25-41, 2012.

[14]Farzin Piltan, Mohammad Keshavarz, Ali Badri & Arash Zargari,“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, 2012.

[15]Farzin Piltan, Iman Nazari, Sobhan Siamak, Payman Ferdosali,“Methodology of FPGA-Based Mathematical error-Based Tuning Sliding Mode Controller”, International Journal of Control and Automation, 5(1), 89-118, 2012.

[16]Farzin Piltan, Bamdad Boroomand, Arman Jahed & Hossein Rezaie, “Methodology of Mathematical Error-Based Tuning Sliding Mode Controller”, International Journal of Engineering, 6 (2):96-117, 2012.

[17]Farzin Piltan, Sara Emamzadeh, Zahra Hivand, Fatemeh Shahriyari & Mina Mirazaei, ”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, 2012.

[18]Farzin Piltan, Ali Hosainpour, Ebrahim Mazlomian, Mohammad Shamsodini, Mohammad H. Yarmahmoudi, ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Robotics and Automation, 3(3):77-105, 2012.

[19]Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh, “Design Baseline Computed Torque Controller”, International Journal of Engineering, 6(3): 129-141, 2012.

[20]Farzin Piltan, Mohammad H. Yarmahmoudi, Mohammad Shamsodini, Ebrahim Mazlomian, Ali Hosainpour, ”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, 2012.

[21]Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, Arman Jahed, “Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine”, International Journal of Advance Science and Technology, 11:40-22, 2012.

[22]Farzin Piltan, Mohammad R. Rashidian, Mohammad Shamsodini and Sadeq Allahdadi, Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2nd Order Nonlinear System”, International Journal of Advanced Science and Technology, 46:39-70, 2012.

[23]Farzin Piltan, Arman Jahed, Hossein Rezaie and Bamdad Boroomand, ”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, 2012.

[24]Farzin Piltan, Bamdad Boroomand, Arman Jahed and Hossein Rezaie,” Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications,, vol.4, no.11, pp.40-52, 2012.

[25]M. Bazregar, Farzin Piltan, A. Nabaee and M.M. Ebrahimi, “Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems”, International Journal of Advanced Science and Technology, 51, 2013.

[26]Farzin Piltan, M.H. Yarmahmoudi, M. Mirzaei, S. Emamzadeh, Z. Hivand, “Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications , vol.5, no.5, pp.1-10, 2013.DOI: 10.5815/ijisa.2013.05.01.

[27]Amin Jalali, Farzin Piltan, M. Keshtgar, M. Jalali, “Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, vol.5, no.7, pp.50-56, 2013. DOI: 10.5815/ijisa.2013.07.07.

[28]Salehi, Farzin Piltan, M. Mousavi, A. Khajeh, M. R. Rashidian, “Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.1-16, 2013. DOI: 10.5815/ijieeb.2013.01.01.

[29]Amin Jalali, Farzin Piltan, A. Gavahian, M. Jalali, M. Adibi, “Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot manipulator”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.68-78, 2013. DOI: 10.5815/ijieeb.2013.01.08.

[30]Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, vol.5, no.8, pp.123-135, 2013. DOI: 10.5815/ijitcs.2013.08.12.

[31]M. M. Ebrahimi Farzin Piltan, M. Bazregar and A.R. Nabaee, “Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator”, International Journal of Control and Automation, 6(3), 2013.

[32]O.R. Sadrnia, Farzin Piltan, M. Jafari, M. Eram and M. Shamsodini, “Design PID Estimator Fuzzy plus Backstepping to Control of Uncertain Continuum Robot”, International Journal of Hybrid Information Technology, 6(4), 2013.

[33]Amin Jalali, Farzin Piltan, H. Hashemzadeh, A. Hasiri, M.R Hashemzadeh, “Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System”, International Journal of Intelligent Systems and Applications, vol.5, no.10, pp.93-105, 2013. DOI: 10.5815/ijisa.2013.10.12.

[34]M. Moosavi, M. Eram, A. Khajeh, O. Mahmoudi and Farzin Piltan, “Design New Artificial Intelligence Base Modified PID Hybrid Controller for Highly Nonlinear System”, International Journal of Advanced Science and Technology, 57, 2013.

[35]Farzin Piltan, Mehdi Eram, Mohammad Taghavi, Omid Reza Sadrnia, Mahdi Jafari,"Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator", IJISA, vol.5, no.12, pp.135-148, 2013. DOI: 10.5815/ijisa.2013.12.12.

[36]Amin Jalali, Farzin Piltan, Mohammadreza Hashemzadeh, Fatemeh BibakVaravi, Hossein Hashemzadeh,"Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot", IJITCS, vol.5, no.12, pp.97-112, 2013. DOI: 10.5815/ijitcs.2013.12.12.

[37]Farzin Piltan, A. Hosainpour, S. Emamzadeh, I. Nazari, M. Mirzaie, “Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator”, International Journal of Robotics and Automation, Vol. 2, No. 4, December 2013, pp. 149~162.

[38]Farzin Piltan, Mahdi Jafari, Mehdi Eram, Omid Mahmoudi, Omid Reza Sadrnia, "Design Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System", International Journal of Engineering and Manufacturing, vol.3, no.1, pp.38-57, 2013.DOI: 10.5815/ijem.2013.01.04.

[39]Mohammad Mahdi Ebrahimi, Farzin Piltan, Mansour Bazregar, AliReza Nabaee,"Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.5, pp.57-69, 2013. DOI: 10.5815/ijieeb.2013.05.08.

[40]Arman Jahed, Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, "Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.3, pp.66-77, 2013. DOI: 10.5815/ijieeb.2013.03.08.

[41]Mohammad Shamsodini, Farzin Piltan, Mahdi Jafari, Omid reza Sadrnia, Omid Mahmoudi,"Design Modified Fuzzy Hybrid Technique: Tuning By GDO", IJMECS, vol.5, no.8, pp.58-72, 2013.DOI: 10.5815/ijmecs.2013.08.07.

[42]Mahdi Mirshekaran, Farzin Piltan,Zahra Esmaeili, Tannaz Khajeaian, Meysam Kazeminasab,"Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", IJMECS, vol.5, no.10, pp.53-63, 2013.DOI: 10.5815/ijmecs.2013.10.07.

[43]Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi ,"Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot", IJISA, vol.6, no.1, pp.112-123, 2014. DOI: 10.5815/ijisa.2014.01.12.

[44]Zahra Esmaieli, Farzin Piltan, Meysam Kazeminasab, Ali Reza Salehi, Mahdi Mirshekaran,"Design Intelligent Robust Back stepping Controller", IJMECS, vol.6, no.1, pp.53-64, 2014.DOI: 10.5815/ijmecs.2014.01.06.

[45]Omid Avatefipour, Farzin Piltan, Mahmoud Reza Safaei Nasrabad, Ghasem Sahamijoo, Alireza Khalilian,"Design New Robust Self Tuning Fuzzy Backstopping Methodology", IJIEEB, vol.6, no.1, pp.49-61, 2014. DOI: 10.5815/ijieeb.2014.01.06.

[46]Alireza Siahbazi, Ali Barzegar, Mahmood Vosoogh, Abdol Majid Mirshekaran, Samira Soltani,"Design Modified Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Spherical Motor", IJISA, vol.6, no.3, pp.12-25, 2014. DOI: 10.5815/ijisa.2014.03.02.

[47]Narges Gholami Mozafari, Farzin Piltan, Mohammad Shamsodini, Azita Yazdanpanah, Ali Roshanzamir,"On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot", IJISA, vol.6, no.3, pp.96-110, 2014. DOI: 10.5815/ijisa.2014.03.10.

[48]Mansour Bazregar, Farzin Piltan, AliReza Nabaee, MohammadMahdi Ebrahimi,"Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot", IJITCS, vol.6, no.3, pp.82-94, 2014. DOI: 10.5815/ijitcs.2014.03.10.

[49]Arzhang Khajeh, Farzin Piltan, Mohammad Reza Rashidian, Afsaneh Salehi, Ehsan pouladi ,"Design New Intelligent PID like Fuzzy Backstepping Controller ", IJMECS, vol.6, no.2, pp.15-26, 2014.DOI: 10.5815/ijmecs.2014.02.03.

[50]Alireza Salehi, Farzin Piltan, Mahdi Mirshekaran, Meysam Kazeminasab, Zahra Esmaeili,"Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control", IJITCS, vol.6, no.4, pp.66-80, 2014. DOI: 10.5815/ijitcs.2014.04.08.

[51]Iman Nazari, Ali Hosainpour, Farzin Piltan, Sara Emamzadeh, Mina Mirzaie,"Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", IJISA, vol.6, no.4, pp.63-75, 2014. DOI: 10.5815/ijisa.2014.04.07.

[52]Mojtaba Yaghoot, Farzin Piltan, Meysam Esmaeili, Mohammad Ali Tayebi, Mahsa Piltan,"Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor", IJMECS, vol.6, no.3, pp.61-72, 2014.DOI: 10.5815/ijmecs.2014.03.08.

[53]Farzin Matin, Farzin Piltan, Hamid Cheraghi, Nasim Sobhani, Maryam Rahmani,"Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor", IJIEEB, vol.6, no.2, pp.53-63, 2014. DOI: 10.5815/ijieeb.2014.02.07.

[54]Azita Yazdanpanah, Farzin Piltan, Ali Roshanzamir, Marjan Mirshekari, Narges Gholami mozafari,"Design PID Baseline Fuzzy Tuning Proportional- Derivative Coefficient Nonlinear Controller with Application to Continuum Robot", IJISA, vol.6, no.5, pp.90-100, 2014. DOI: 10.5815/ijisa.2014.05.10.

[55]Ali Barzegar, Farzin Piltan, Mahmood Vosoogh, Abdol Majid Mirshekaran, Alireza Siahbazi,"Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor", IJITCS, vol.6, no.5, pp.72-83, 2014. DOI: 10.5815/ijitcs.2014.05.10.