Maryam Rahmani; Farzin Piltan; Farzin Matin; Hamid Cheraghi; Nasim Sobhani

Design Intelligent System Compensator to Computed Torque Control of Spherical Motor

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Author(s)

Maryam Rahmani ^1,* Farzin Piltan ¹ Farzin Matin ¹ Hamid Cheraghi ¹ Nasim Sobhani ¹

1. Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz/Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.08.10

Received: 2 Sep. 2013 / Revised: 11 Jan. 2014 / Accepted: 25 Mar. 2014 / Published: 8 Jul. 2014

Index Terms

Fuzzy Inference System, Fuzzy Logic Controller, Computed Torque Controller, Spherical Motor, Fuzzy Model-Base Computed Torque Controller

Abstract

Spherical three Degree-of- Freedom (DOF) is controlled by model-base fuzzy computed torque controller. The spherical motor has three revolute joints allowing the corresponding parts to move horizontally and vertically. 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. Computed torque controller (CTC) 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, CTC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback Inference Engine (FIS) is used to 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. Based on this research model- base fuzzy computed torque controller applied to spherical motor is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.

Cite This Paper

Maryam Rahmani, Farzin Piltan, Farzin Matin, Hamid Cheraghi, Nasim Sobhani, "Design Intelligent System Compensator to Computed Torque Control of Spherical Motor", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.8, pp.87-96, 2014. DOI:10.5815/ijisa.2014.08.10

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