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Self Tuning Adaptive Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems  

Kim Dong-Sik (순천향대학교 정보기술공학부)
Park Gwi-Tae (고려대학교 전기공학과)
Seo Sam-Jun (안양대학교 전기전자공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.4, 2005 , pp. 228-234 More about this Journal
Abstract
In this paper, we proposed a self tuning adaptive fuzzy sliding control algorithms using gadient descent method to reduce chattering phenomenon which is viewed in variable control system. In design of FLC, fuzzy control rules are obtained from expert's experience and intuition and it is very difficult to obtain them. We proposed an adaptive algorithm which is automatically updated by consequence part parameter of control rules in order to reduce chattering phenomenon and simultaneously to satisfy the sliding mode condition. The proposed algorithm has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties in the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved.
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