Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot

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Author(s)

Farzin Piltan 1,* Sara Emamzadeh 1 Sara Heidari 1 Samaneh Zahmatkesh 1 Kamran Heidari 1

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

* Corresponding author.

DOI: https://doi.org/10.5815/ijem.2013.02.04

Received: 31 May 2013 / Revised: 18 Jul. 2013 / Accepted: 20 Aug. 2013 / Published: 16 Sep. 2013

Index Terms

Fuzzy inference system, Mamdani fuzzy inference engine, feedback linearization estimator, continuum robot, linear PID theory

Abstract

Refer to this research, an intelligent robust fuzzy parallel feedback linearization estimator for Proportional-Integral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately. And it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Feedback linearization compensation is one of the nonlinear compensator. The first problem of the pure feedback linearization compensator (FLC) was equivalent problem in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using parallel fuzzy logic theory. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to FLC. This methodology is based on design parallel fuzzy inference system and applied to equivalent nonlinear dynamic part of FLC. The results demonstrate that the model free fuzzy FLC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot).

Cite This Paper

Farzin Piltan,Sara Emamzadeh,Sara Heidari,Samaneh Zahmatkesh,Kamran Heidari,"Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot", IJEM, vol.3, no.2, pp.51-72, 2013. DOI: 10.5815/ijem.2013.02.04

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[50]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): 2012.

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