Design New Intelligent PID like Fuzzy Backstepping Controller

Abstract

Abstract-The minimum rule base Proportional Integral Derivative (PID) Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator"s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.Index Terms-PID like fuzzy control, backstepping controller, PD like fuzzy control, PI like control, flexible robot manipulator.

Intelligent Model-Reference Method to Control of Industrial Robot Arm

“…This section has focused on the robot manipulator mechanical classification. Types of kinematics chain, i.e., serial Vs. parallel manipulators, and types of connection between link and join actuators, i.e., highly geared systems Vs. direct-drive systems are presented in the following sections because these topics played important roles to select and design the best acceptable performance controllers [16][17]. A serial link robot is a sequence of joints and links which begins with a base frame and ends with an end-effector.…”

Intelligent Time Variation Nonlinear Fuzzy-Flatness Technique

“…The central idea of fuzzy sets is that elements can have partial membership in a given set. In contrast to a classical set, a fuzzy set, as the name implies, is a set without a crisp boundary [12]. In this respect, fuzzy sets are functions that map a value to a number between zero and one, indicating its actual degree of membership.…”

“…A good portion of fuel consumption reduction could be achieved by introducing novel wing-tip devices such as winglets, to mitigate the induced drag, or by introducing morphing wing skin, to reduce the form drag by improving flow laminarity [12][13].…”

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

“…The remaining terms in the dynamic equations resulting from gravitational potential energies and spring energies are collected in the matrix . The coefficient matrices of the dynamic equations are given below, [58][59][60][61][62][63][64][65][66][67][68][69]. However the application area for fuzzy control is really wide, the basic form for all command types of controllers consists of;…”

“…The intelligent tracking control using the fuzzy-logic technique provides a cost-and-time efficient control implementation due to the automated dynamic-less input. This in turn would further inspire multi-uncertainties testing for continuum robot [58][59][60][61][62][63][64][65][66][67][68][69]. In project we can used fuzzy logic theory when a plant can be considered as a black box with outputs available for measurement and a possibility of changing inputs.…”