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Robust model-free control of a class of uncertain nonlinear systems using BELBIC: stability analysis and experimental validation

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Abstract

The applicability of a brain emotional learning-based intelligent controller (BELBIC) is based on the emotion processing mechanism in brain, sensory inputs and emotional cues. The inspiration of this intelligent controller is the computational model of limbic system in the mammalian brain. In the thematic literature, some stability analyses for BELBIC are presented. Most of them are dealing with some specific systems or mathematical models of these systems are required. In this study, a more general stability analysis for the BELBIC is proposed that can be simply applied to the tracking control of a large group of nonlinear systems. The novelty and main contributions of this study are treating the BELBIC as an uncertainty estimator to pave the way for stability analysis. The control law comprises a model-free control approach. The satisfactory performance of the proposed method is proved by numerical simulations on an induction motor and comparison with a neuro-fuzzy controller. The considerable influence of the BELBIC in uncertainty estimation and reducing the tracking error is also verified by an experimental study on a SCARA manipulator. In addition, to highlight the superiority of BELBIC in practical implementations, a comparison with a controller using an adaptive uncertainty estimator has been presented.

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Authors and Affiliations

  1. Faculty of Electrical and Computer Engineering, University of Birjand, Birjand, 97175/376, Iran

    Saeed Khorashadizadeh

  2. Faculty of Electrical and Robotics Engineering, Shahrood University of Technology, Shahrood, 361995161, Iran

    Seyed Mohammad Hashem Zadeh

  3. Shahid Bahonar Technical and Engineering College, Shiraz, Iran

    Mohammad Reza Koohestani

  4. School of Electrical Engineering, Islamic Azad University, Marvdasht, Iran

    Sajjad Shekofteh

  5. Department of Mechatronics Engineering, Erciyes University, 38039, Kayseri, Turkey

    Selçuk Erkaya

Authors
  1. Saeed Khorashadizadeh
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  2. Seyed Mohammad Hashem Zadeh
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  3. Mohammad Reza Koohestani
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  4. Sajjad Shekofteh
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  5. Selçuk Erkaya
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Correspondence to Selçuk Erkaya.

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Technical Editor: Victor Juliano De Negri, D.Eng.

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Khorashadizadeh, S., Zadeh, S.M.H., Koohestani, M.R. et al. Robust model-free control of a class of uncertain nonlinear systems using BELBIC: stability analysis and experimental validation. J Braz. Soc. Mech. Sci. Eng. 41, 311 (2019). https://doi.org/10.1007/s40430-019-1824-6

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  • DOI: https://doi.org/10.1007/s40430-019-1824-6

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