INFORMATION CHANGE THE WORLD

International Journal of Intelligent Systems and Applications(IJISA)

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

Published By: MECS Press

IJISA Vol.6, No.1, Dec. 2013

Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot

Full Text (PDF, 638KB), PP.112-123


Views:137   Downloads:0

Author(s)

Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi

Index Terms

Estimation, Inverse Dynamic Methodology, Fuzzy Inference Engine, Continuum Robot Manipulator

Abstract

Refer to this research, a position parallel error-based fuzzy inverse dynamic plus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formulation in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot manipulator system’s dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic plus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system.

Cite This Paper

Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi ,"Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.1, pp.112-123, 2014. DOI: 10.5815/ijisa.2014.01.12

Reference

[1]G. Robinson, and J. Davies, “Continuum robots – a state of the art,”Proc. IEEE International Conference on Robotics and Automation, Detroit, MI, 1999, vol. 4, pp. 2849-2854.

[2]I.D. Walker, D. Dawson, T. Flash, F. Grasso, R. Hanlon, B. Hochner, W.M. Kier, C. Pagano,C.D. Rahn, Q. Zhang, “Continuum Robot Arms Inspired by Cephalopods, Proceedings SPIE Conference on Unmanned Ground Vehicle Technology VII, Orlando, FL, pp 303-314, 2005.

[3]K. Suzumori, S. Iikura, and H. Tanaka, “Development of Flexible Microactuator and it’s Applications to Robotic Mechanisms”, Proceedings IEEE International Conference on Robotics and Automation, Sacramento, California, pp. 1622-1627, 1991.

[4]D. Trivedi, C.D. Rahn, W.M. Kier, and I.D. Walker, “Soft Robotics: Biological Inspiration, State of the Art, and Future Research”, Applied Bionics and Biomechanics, 5(2), pp. 99-117, 2008. 

[5]W. McMahan, M. Pritts, V. Chitrakaran, D. Dienno, M. Grissom, B. Jones, M. Csencsits, C.D. Rahn, D. Dawson, and I.D. Walker, “Field Trials and Testing of “OCTARM” Continuum Robots”, Proc. IEEE International Conference on Robotics and Automation, pp. 2336-2341, 2006.

[6]W. McMahan, I.D. Walker, “Octopus-Inspired Grasp Synergies for Continuum Manipulators”, Proc. IEEE International Conference on Robotics and Biomimetics, pp. 945- 950, 2009.

[7]Farzin Piltan, Shahnaz Tayebi Haghighi " Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots", IAES International journal of Robotics and Automation (IAES-IJRA) , 1(4):175-189, 2012.

[8]M. Bazregar, Farzin Piltan, A. Nabaee and M.M. Ebrahimi, “Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems”, International Journal of Advanced Science and Technology, 51, 2013.

[9]Farzin Piltan, M.H. Yarmahmoudi, M. Mirzaei, S. Emamzadeh, Z. Hivand, “Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, 5(5), 2013.

[10]Sh. Tayebi Haghighi, S. Soltani, Farzin Piltan, M. kamgari, S. Zare, “Evaluation Performance of IC Engine: Linear Tunable Gain Computed Torque Controller Vs. Sliding Mode Controller”, International Journal of Intelligent Systems and Applications, 5(6), 2013.

[11]A. Jalali, Farzin Piltan, M. Keshtgar, M. Jalali, “Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, 5(7), 2013.

[12]A. Salehi, Farzin Piltan, M. Mousavi, A. Khajeh, M. R. Rashidian, “Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[13]Farzin Piltan, M.J. Rafaati, F. Khazaeni, A. Hosainpour, S. Soltani, “A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[14]A. Jalali, Farzin Piltan, A. Gavahian, M. Jalali, M. Adibi, “Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot manipulator”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[15]Farzin Piltan, M.A. Bairami, F. Aghayari, M.R. Rashidian, “Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator”, International Journal of Information Technology and Computer Science, 5(7), 2013.

[16]Farzin Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari & Mina Mirazaei. ” PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses”, International Journal of Robotics and Automation, 3(3):106-150, 2012.

[17]Farzin Piltan, A. Hosainpour, E. Mazlomian, M.Shamsodini, M.H Yarmahmoudi. ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Robotics and Automation, 3(3):77-105, 2012.

[18]Farzin Piltan, R. Bayat, F. Aghayari, B. Boroomand. “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller”, International Journal of Robotics and Automation, 3(3):151-166, 2012.

[19]Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ”Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”, International Journal of Robotics and Automation, 3(3): 192-211, 2012.

[20] Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh, “Design Baseline Computed Torque Controller”, International Journal of Engineering, 6(3): 129-141, 2012.

[21]Farzin Piltan, Sajad Rahmdel, Saleh Mehrara, Reza Bayat , “Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses” , International Journal of Engineering, 6(3): 142-177, 2012.

[22]Farzin Piltan, M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.Hosainpour. ”PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses”, International Journal of Robotics and Automation, 3(3): 167-191, 2012.

[23]Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, Arman Jahed. “Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine”, International Journal of Advance Science and Technology, 11:40-22, 2012. 

[24]Farzin Piltan, S. Siamak, M.A. Bairami and I. Nazari.” Gradient Descent Optimal Chattering 

Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Advanced Science and Technology, 43: 73-90, 2012.

[25]Farzin Piltan, M.R. Rashidian, M. Shamsodini and S. Allahdadi. ” Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2nd Order Nonlinear System”, International Journal of Advanced Science and Technology, 46:39-70, 2012.

[26]Farzin Piltan, A. Jahed, H. Rezaie and B. Boroomand. ” Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System”, International Journal of Control and Automation, 5(3): 217-236, 2012.

[27]Farzin Piltan, R. Bayat, S. Mehara and J. Meigolinedjad.”GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace”, International Journal of Information Engineering and Electronic Business, 5: 17-26, 2012.

[28]Farzin Piltan, B. Boroomand, A. Jahed and H. Rezaie. ”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, 11: 40-52 2012.

[29]Farzin Piltan, S. Mehrara, R. Bayat and S. Rahmdel. ” Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology”, International Journal of Hybrid Information Technology, 5(4):41-54, 2012.

[30]Farzin Piltan, Shahnaz Tayebi Haghighi, “Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots”, International Journal of Robotics and Automation, 1(4): 175-189, 2012.

[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.

[33]Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian & Samira Soltani, “Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator”, International Journal of Engineering, 5 (5):419-434, 2011.

[34]Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak & Iman Nazari, “Control of Robot Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control”, International Journal of Control and Automation, 4 (4):91-110, 2011.

[35]Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta & Samira Soltani, “On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller Based on Lyaponuv Theory”, International Journal of Robotics and Automation, 2 (5):381-400, 2011.

[36]Farzin Piltan, N. Sulaiman, Samira Soltani, Samaneh Roosta & Atefeh Gavahian, “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator”, International Journal of Engineering, 5 (5):360-379, 2011.