Masoud Mokhtar

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


Masoud Mokhtar is currently working as a primary researcher in the laboratory of Control and Robotic, Institute of Advance Science and Technology, IRAN SSP research and development Center. His current research   interests are in the area of nonlinear control, artificial control system and robotics.

Author Articles
Design Minimum Rule-Base Fuzzy Inference Nonlinear Controller for Second Order Nonlinear System

By Masoud Mokhtar Farzin Piltan Marjan Mirshekari Alireza Khalilian Omid Avatefipour

DOI:, Pub. Date: 8 Jun. 2014

This research is focused on proposed minimum rule base PID computed torque algorithms with application to continuum robot manipulator. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Classical Computed Torque Controller (CTC) is robust to control model partly uncertainties and external disturbances. This controller is one of the significant nonlinear methodologies; according to the nonlinear dynamic formulation. One of the main targets in this research is increase the robustness based on the artificial intelligence methodology. Classical computed torque control has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a computed torque controller and artificial intelligence (e.g. fuzzy logic). To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This large number of fuzzy rules will cause a high computation load. To reduce the number of rule base this research is focused on the PD like fuzzy plus integral methodology. This method is applied to continuum robot manipulator to have the best performance.

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Design a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller

By Ali Shahcheraghi Farzin Piltan Masoud Mokhtar Omid Avatefipour Alireza Khalilian

DOI:, Pub. Date: 8 Jan. 2014

The Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (FSMC) is the most widely used control strategy in the Industry (control of robotic arm). The popularity of PID FSMC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FSMC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. This paper analyses the modified PID FSMC controllers based on minimum rule base for flexible robot manipulator system and test the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

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