Sara Emamzadeh

Work place: SanatkadeheSabze Pasargad Company (S.S.P. Co), Shiraz, Iran



Research Interests: Robotics, Artificial Intelligence


Sara Emamzadeh is a control and automation engineer researcher of research and development company SSP. Co. She is an expert in artificial intelligence and control engineer in this company. Her research activities deal with the robotic control, artificial intelligence and expert system.

Author Articles
Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

By Iman Nazari Ali Hosainpour Farzin Piltan Sara Emamzadeh Mina Mirzaie

DOI:, Pub. Date: 8 Mar. 2014

Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

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Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot

By Farzin Piltan Sara Emamzadeh Sara Heidari Samaneh Zahmatkesh Kamran Heidari

DOI:, Pub. Date: 16 Sep. 2013

Refer to this research, an intelligent robust fuzzy parallel feedback linearization estimator for Proportional-Integral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately. And it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Feedback linearization compensation is one of the nonlinear compensator. The first problem of the pure feedback linearization compensator (FLC) was equivalent problem in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using parallel fuzzy logic theory. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to FLC. This methodology is based on design parallel fuzzy inference system and applied to equivalent nonlinear dynamic part of FLC. The results demonstrate that the model free fuzzy FLC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot).

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Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator

By Farzin Piltan MohammadHossain Yarmahmoudi Mina Mirzaie Sara Emamzadeh Zahra Hivand

DOI:, Pub. Date: 8 Apr. 2013

First three degree of six degree of freedom robotic manipulator is controlled by a new fuzzy sliding feedback linearization controller. The robot arm has six revolute joints allowing the corresponding links to move horizontally. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system’s dynamic model. The work outline in this research utilizes soft computing applied to new conventional controller to address these methodology issues. Feedback linearization controller (FLC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known FLC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback linearization controller (FFLC) reduce this kind of limitation. Fuzzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a MATLAB based area. To increase the stability and robustness new mathematical switching sliding mode methodology is applied to FFLC. Based on this research model free mathematical tunable gain new sliding switching feedback linearization controller applied to robot manipulator is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.

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