Ali Hosainpour

Work place: Research and Development Unit, Electrical and Electronic Researcher, SSP. Co, Shiraz, Iran



Research Interests: Artificial Intelligence, Robotics, Process Control System


Ali Hosainpour is an electronic researcher of research and development company SSP. Co. His main areas of research interests are nonlinear control, artificial control system and robotics.

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.

[...] Read more.
A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator

By Farzin Piltan Mohammad Javad Rafaati Fatima Khazaeni Ali Hosainpour Samira Soltani

DOI:, Pub. Date: 8 May 2013

The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensure stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the PD-plus-gravity controller. Methodology. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.

[...] Read more.
Other Articles