Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy Disturbance Observer based Multiple Sliding Surface Control of Nonlinear Systems with Mismatched Disturbance

부정합조건 외란을 갖는 비선형 시스템의 퍼지 외란 관측기 기반 다중 슬라이딩 평면 제어

  • Lee, Sang-Yun (School of Electrical and Electronic Engineering, Yonsei University) ;
  • Seo, Hyungkeun (School of Electrical and Electronic Engineering, Yonsei University) ;
  • Hyun, Chang-Ho (Division of Electrical Electronic and Control Engineering, Kongju National University) ;
  • Park, Mignon (School of Electrical and Electronic Engineering, Yonsei University)
  • 이상윤 (연세대학교 전기전자공학과) ;
  • 서형근 (연세대학교 전기전자공학과) ;
  • 현창호 (공주대학교 전기전자제어공학부) ;
  • 박민용 (연세대학교 전기전자공학과)
  • Received : 2014.05.21
  • Accepted : 2014.06.16
  • Published : 2014.08.25
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Abstract

This paper proposes fuzzy disturbance observer based multiple sliding surface control scheme for nonlinear systems with mismatched disturbance. In order to stabilize nonlinear systems with mismatched disturbance, a controller based on multiple sliding surface control scheme is designed. In addition, a fuzzy disturbance observer is used to estimate the disturbance. Using the fuzzy disturbance observer, "explosion of terms" problem and chattering problem were solved. The stability of the proposed control scheme is analyzed by Lyapunov stability theory. For the verification, we apply the proposed method to numerical examples and compare its result with that of the applied nonlinear disturbance observer based sliding mode control.

본 논문은 부정합조건 외란을 갖는 비선형 시스템을 제어하기 위하여 퍼지 외란 관측기 기반 다중 슬라이딩 평면 제어 기법을 제안한다. 부정합조건에서도 제어 대상이 평형점으로 수렴할 수 있도록 다중 슬라이딩 평면 기법을 사용하여 제어기를 설계한다. 더불어, 퍼지 외란 관측기를 도입함으로써 다중 슬라이딩 평면 제어의 문제점인 항의 복잡성 (Explosion of terms)을 해결하고, 기존 슬라이딩 모드 제어 상에서 불연속 신호를 사용해서 일어나는 채터링(Chattering)을 제거한다. 제안된 시스템의 안정성은 리아프노브 안정성 이론을 이용하여 증명한다. 제안한 방법의 성능 우수성을 보이기 위해 모의실험을 통하여 비선형 외란 관측기 기반 슬라이딩 모드 제어기의 성능과 비교 분석한다.

Keywords

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