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http://dx.doi.org/10.5391/IJFIS.2011.11.1.012

Adaptive Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems  

Seo, Sam-Jun (Dept. of Electrical and Electronic Engineering, Anyang University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.11, no.1, 2011 , pp. 12-18 More about this Journal
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
fuzzy basis function; uncertain nonlinear system; fuzzy sliding mode control; inverted pendulum;
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