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

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Author(s)

Meysam Kazeminasab 1,* Farzin Piltan 2 Zahra Esmaeili 1 Mahdi Mirshekaran 1 Ali Reza Salehi 1

1. Research and Development Unit, Electrical and Electronic Researcher, SSP. Co, Shiraz, Iran

2. Research and Development Unit, SanatkadeheSabze Pasargad Company, (S.S.P. Co), Shiraz, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.01.12

Received: 20 Apr. 2013 / Revised: 5 Aug. 2013 / Accepted: 10 Oct. 2013 / Published: 8 Dec. 2013

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

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[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.

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[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. 

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[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.

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[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.

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