Paper Info
Title
An optimal adaptive robust PID controller subject to fuzzy rules and sliding modes for MIMO uncertain chaotic systems.
Abstract
Display Omitted An optimal adaptive robust PID controller based on fuzzy rules and sliding modes is introduced to control MIMO uncertain chaotic nonlinear systems.Multi-objective genetic algorithm optimization is employed to ascertain the optimum parameters of the proposed controller.The proposed methodology is applied to two prominent challenging dynamic systems, i.e. a Duffing-Holmes oscillator and a robotic manipulator. In this paper, an optimal adaptive robust PID controller based on fuzzy rules and sliding modes is introduced to present a general scheme to control MIMO uncertain chaotic nonlinear systems. In this control scheme, the gains of the PID controller are updated by using an adaptive mechanism, fuzzy rules, the gradient search method, and the chain rule of differentiation in order to minimize the sliding surfaces of sliding mode control. More precisely, sliding mode control is used as a supervisory controller to provide sufficient control inputs and guarantee the stability of the control approach. To ascertain the parameters of the proposed controller and avoid trial and error, the multi-objective genetic algorithm is employed to augment the performance of proposed controller. The chaotic system of a Duffing-Holmes oscillator and an industrial robotic manipulator are the case studies to evaluate the performance of the proposed control approach. The obtained results of this study regarding both systems are compared with the outcomes of two notable studies in the literature. The results and analysis prove the efficiency of the proposed controller with regard to MIMO uncertain systems having challenging external disturbances in terms of stability, minimum tracking error and optimal control inputs.
Year
DOI
Venue
2017
10.1016/j.asoc.2016.09.007
Appl. Soft Comput.
Keywords
Field
DocType
Adaptive robust controller,PID controller,Sliding mode controller,Multi-objective genetic algorithm,Fuzzy rules,MIMO uncertain chaotic systems,Robot manipulator,Duffing-Holmes oscillator
Control theory,Optimal control,PID controller,Control theory,Fuzzy logic,Adaptive control,Robust control,Open-loop controller,Mathematics,Sliding mode control
Journal
Volume
Issue
ISSN
52
C
1568-4946
Citations 
PageRank 
References 
4
0.44
36
Authors
3
Name
Order
Citations
PageRank
Mohammad Javad Mahmoodabadi1676.23
Rahmat Abedzadeh Maafi271.35
M. Taherkhorsandi3151.30