Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor

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Author(s)

Ali Barzegar 1,* Farzin Piltan 1 Mahmood Vosoogh 1 Abdol Majid Mirshekaran 1 Alireza Siahbazi 1

1. Research and Development Department, Institute of Advance Science and Technology-IRAN SSP, Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijitcs.2014.05.10

Received: 20 Jun. 2013 / Revised: 3 Oct. 2013 / Accepted: 10 Dec. 2013 / Published: 8 Apr. 2014

Index Terms

Fuzzy Logic Theory, Feedback Linearization Method, Spherical Motor, Feedback Linearization like Controller

Abstract

Fuzzy logic controller (FLC) is an important nonlinear controller in an uncertain dynamic system’s parameters. This controller is used to control of nonlinear dynamic systems particularly for spherical motor, because it has a suitable control performance and it is a stable. Conversely pure fuzzy logic controller is a high-quality intelligent nonlinear controller; it has two important problems; reliability and robustness in uncertain dynamic parameter. To increase the reliability and robustness, this research is focused on applied feedback linearization method in pure fuzzy logic controller. In this research the nonlinear equivalent dynamic (equivalent part) formulation problem in uncertain condition is also solved by combine pure fuzzy logic control and feedback linearization method. In this method feedback linearization theorem is applied to fuzzy logic controller to increase the stability, reliability and robustness, which it is based on nonlinear dynamic formulation. To achieve this goal, the dynamic-based formulation feedback linearization method is design. This method is robust and model-based nonlinear control therefore can reduce the nonlinearity term of system and reduce the effect of coupling. In this research MAMDANI fuzzy inference system is used as a main controller. It has minimum rule base to practical implementation. This technique was employed to obtain the desired control behavior with a number of information about dynamic model of system and a feedback linearization control was applied to reinforce system performance.

Cite This Paper

Ali Barzegar, Farzin Piltan, Mahmood Vosoogh, Abdol Majid Mirshekaran, Alireza Siahbazi, "Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor", International Journal of Information Technology and Computer Science(IJITCS), vol.6, no.5, pp.72-83, 2014. DOI:10.5815/ijitcs.2014.05.10

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