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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.5, No.11, Oct. 2013

Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control

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Author(s)

Samaneh Zahmatkesh, Farzin Piltan, Kamran Heidari, Mohammad Shamsodini, Sara Heidari

Index Terms

Continuum Robot, Fuzzy Logic Controller, Variable Structure Controller, Backstepping Controller, Adaptive Methodology, Lyapunov Based Controller

Abstract

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm to control of continuum robot manipulator. Variable structure methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable error result and adjust the trajectory following. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and modified Proportional plus Derivative (P+D) fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the modified rate of error. The outputs represent joint torque, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC based on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC. Simulation results signify good performance of trajectory in presence of uncertainty joint torque load.

Cite This Paper

Samaneh Zahmatkesh, Farzin Piltan, Kamran Heidari, Mohammad Shamsodini, Sara Heidari,"Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control", International Journal of Intelligent Systems and Applications(IJISA), vol.5, no.11, pp.34-46, 2013.DOI: 10.5815/ijisa.2013.11.04

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[31]Farzin Piltan, N. Sulaiman, Amin Jalali & Koorosh Aslansefat, “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 2 (5):317-343, 2011.

[32]Farzin Piltan, N. Sulaiman, Abbas Zare, Mohammadali Dialame & Sadeq Allahdadi, “Design Adaptive Fuzzy Inference Sliding Mode Algorithm: Applied to Robot Arm”, International Journal of Robotics and Automation,3 (1):283-297, 2011.

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