Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

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Author(s)

Mahdi Mirshekaran 1,* Farzin Piltan 1 Zahra Esmaeili 1 Tannaz Khajeaian 1 Meysam Kazeminasab 1

1. Development Unit, SanatkadeheSabze Pasargad Company, (S.S.P. Co), Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijmecs.2013.10.07

Received: 10 Jun. 2013 / Revised: 20 Jul. 2013 / Accepted: 23 Aug. 2013 / Published: 8 Oct. 2013

Index Terms

Modified PID Controller, Flexible manipulator, sliding mode controller, vibration of end effector, fuzzy logic theory

Abstract

This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.

Cite This Paper

Mahdi Mirshekaran, Farzin Piltan, Zahra Esmaeili, Tannaz Khajeaian, Meysam Kazeminasab, "Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", International Journal of Modern Education and Computer Science (IJMECS), vol.5, no.10, pp.53-63, 2013. DOI:10.5815/ijmecs.2013.10.07

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[59]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.
[60]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.
[61]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.
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[63]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.
[64]AH Aryanfar, MR Khammar, Farzin Piltan, “Design a robust self-tuning fuzzy sliding mode control for second order systems”, International Journal of Engineering Science REsearch, 3(4): 711-717, 2012.
[65]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.
[66]Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, 5(8), 2013.
[67]Farzin Piltan, M. Akbari, M. Piran , M. Bazregar. ”Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine”, International Journal of Information Technology and Computer Science, 01:65-73, 2013.
[68]Farzin Piltan, M. Piran , M. Bazregar, M. Akbari, “Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio”, International Journal of Intelligent Systems and Applications, 02: 59-70, 2013.
[69]Farzin Piltan, M. Mansoorzadeh, M. Akbari, S. Zare, F. ShahryarZadeh “Management of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine“ Global Journal of Biodiversity Science And Management, 3(1), 2013.