International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Adaptive Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems

  • Seo, Sam-Jun (Dept. of Electrical and Electronic Engineering, Anyang University)
  • Received : 2010.11.09
  • Accepted : 2011.03.10
  • Published : 2011.03.25
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose a 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.

Keywords

References

  1. R. A. DeCarlo, S. H. Zak and G. P. Matthews, “Variable structure control of nonlinear multi variable systems : a tutorial”, Proceedings of the IEEE, Vol. 76, No. 3, pp. 212-232, 1988. https://doi.org/10.1109/5.4400
  2. K. K. D. Young, “Controller design of a manipulator using theory of variable structure systems”, IEEE Trans. Syst. Man and Cybern., Vol. 8, No. 2, pp. 101-109, 1978. https://doi.org/10.1109/TSMC.1978.4309907
  3. J. J. Slotine and S. S. Sastry, “Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators”, Int. Journal of Control, Vol. 38, No. 2, pp. 465-492. 1983. https://doi.org/10.1080/00207178308933088
  4. L. A. Zadeh, “Fuzzy sets”, Information and Control, Vol. 8,pp. 338-353, 1965. https://doi.org/10.1016/S0019-9958(65)90241-X
  5. L. A. Zadeh, “Fuzzy algorithms”, Information and Control, Vol. 12, pp. 94-102, 1968. https://doi.org/10.1016/S0019-9958(68)90211-8
  6. D. Driankov, H. Hellendoorn and M. Reinfrank, An Introduction to Fuzzy Control, Springer-Verlag, NewYork, 1993.
  7. R. Palm, “Sliding mode fuzzy control”, Proceedings of the IEEE International Conference on Fuzzy Systems, SanDiego, CA, pp. 519-526, 1992.
  8. R. Palm, “Robust control by fuzzy sliding mode”, Automatica, Vol. 30, No. 9, pp. 1429-1437, 1994. https://doi.org/10.1016/0005-1098(94)90008-6
  9. U. Itkis, Control Systems of Variable Structure, John Wiley & Sons, NewYork, 1976.
  10. M. W. Spong, and M. Vidyasager, Robot Dynamics and Control, John Wiley & Sons, NewYork, 1989.
  11. S. H. Zak and J. J. Slotine, “Stabilizing Fuzzy System Models using Linear Controller”, IEEE Trans. Fuzzy Systems, Vol. 7, No. 2, pp. 236-240, 1999. https://doi.org/10.1109/91.755404

Cited by

  1. Implementation of Fuzzy Self-Tuning PID and Feed-Forward Design for High-Performance Motion Control System vol.14, pp.2, 2014, https://doi.org/10.5391/IJFIS.2014.14.2.136
  2. Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties vol.16, pp.7, 2016, https://doi.org/10.3390/s16071000