제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A New Approach to the Design of a Fuzzy Sliding Mode Controller for Uncertain Nonlinear Systems

  • Seo, Sam-Jun (Department of Electrical & Electronic Engineering, Anyang University) ;
  • Kim, Dong-Sik (Division of Information and Technology Engineering, Soonchunhyang University) ;
  • Kim, Dong-Won (Department of Electrical Engineering, Korea University) ;
  • Yoo, Ji-Yoon (Department of Electrical Engineering, Korea University) ;
  • Park, Gwi-Tae (Department of Electrical Engineering, Korea University)
  • Published : 2004.08.25
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Abstract

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved

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