Ehsan Pooladi

Work place: Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz/Iran



Research Interests: Artificial Intelligence, Robotics, Process Control System


Ehsan Pooladi is currently working as a co researcher in Control and Robotic Lab at the institute of advance science and technology, IRAN SSP research and development Center. He is a Master in field of Mechanical Engineering from Islamic Azad University, IRAN. His current research interests are in the area of nonlinear control, artificial control system and robotics, and spherical motor.

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

By Mohammad shamsodini Farzin Piltan Saman Rahbar Ehsan Pooladi Hossein Davarpanah

DOI:, Pub. Date: 8 May 2014

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.

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