Four air suspensions,which consist of four air springs and four damp. Abstractit is well known that slidingmode control can give good transient performance and system robustness. Fuzzy sliding mode control of container cranes springerlink. A new fuzzy sliding mode controller for vibration control systems using integratedstructure smart dampers sy dzung nguyen1,2, wanho kim3, jhinha park3 and seungbok choi3,4 1division of computational mechatronics, institute for computational science, ton. Research article adaptive fuzzy sliding mode tracking. Smc uses a discontinuous control input to force system states to specified sliding manifolds on which the system. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robots manipulator is removed. Pdf a fuzzy sliding mode control approach for nonlinear chemical. Cheng and chien 2006 proposed an adaptive sliding mode controller based on ts fuzzy models and wu and juang 2008 showed that fuzzy sliding surfaces can be established by solving a set of linear matrix inequalities.
Introduction switched mode dcdc converters are electronic circuits which convert a voltage from one level to a higher or lower one. A novel sliding mode fuzzy control methodology is investigated using this model. Effectiveness of fuzzy sliding mode control boundary layer. Longitudinal motion control of auv based on fuzzy sliding. Fuzzy sliding mode control for active suspension system. A fuzzy logic controller flc based on vsc with sliding mode concept is used to control the speed of srm drives. In this study, adaptive fuzzy sliding mode control algorithm was designed to control erection mechanism.
Sliding mode control smc, is a suitable technique for controlling nonlinear systems because it is a highspeed switching feedback control method. In this method, the bounds of structural and nonstructural uncertainties by using feedback linearization method are reduced and to overcome the remaining uncertainties, sliding mode control is deployed. First known dynamics of the system are eliminated through feedback linearisation and then fuzzy sliding mode controller is designed using takagisugeno ts method, based on the. The latter is flc based on sliding mode or sliding mode. The control law superposes equivalent control, switching control, and fuzzy control.
In this controller, a fuzzy logic algorithm is used in order to tune the control gain of the sliding mode controller. In this paper, by using a acombination of fuzzy sliding mode methods and genetic algorithms, we have tired to optimally control the inverted pendulum by nonlinear equations. The vss can be prescribed with an arbitrary transient response. Voltagebase control of camera stabilizer using optimal. A fuzzy sliding mode control approach for nonlinear chemical processes. Hence, there are the socalled fuzzy sliding mode control fsmc 1118 and sliding mode fuzzy logic control smfc 1926. The rst substantially is fuzzy adaptive sliding mode control algorithm in which unknown system dynamics are identi ed by fls to form the equivalent control of smc. The equivalent control that maintains the sliding mode satisfies the condition s 0 8 assuming that the matrix, s g xt x w w. Here, the fuzzy logic control flc algorithm and simplex slidingmode control ssmc theory are integrated to improve the system states response and to reduce system states chattering phenomenon of the controlled system for simplex control method. Article in press control engineering practice 17 2009 541550. Moreover, many papers discussed the combination of fuzzy logic with hierarchical sliding mode control to cope with various control problems of underactuated systems. The proposed controller achieves well tracking to set. Abstract this paper considers the problem of observerbased adaptive fuzzy sliding mode control for switched uncertain nonlinear systems with deadzone input in strictfeedback form. This paper presents a unique esobased fuzzy slidingmode controller fsmceso for a 3dof serialparallel hybrid humanoid arm hha for the trajectory tracking control problem.
Kim and ro proposed an active suspension control system for sliding mode control strategy and proved the superiority of sliding mode control. Vehicle lateral control in the presence of uncertainty for. The fsmceso is based on the combination of the slidingmode control smc. The extended state observerbased fuzzy sliding mode control was implemented for 3degreeoffreedom humanoid arm. Sliding mode control and fuzzy sliding mode control for dcdc converters kamel ben saad, abdelaziz s ahbani and mohamed benrejeb research unit lara, national engineering school of tunis enit, tunis, tunisia 1. The design of a sliding mode controller incorporating fuzzy control helps in achieving reduced chattering, simple rule base, and robustness against load disturbance and nonlinearities. Moreover, the control gain, which is the most important component, is a flexible gain and is tuned based on fuzzy laws to avoid.
Nevertheless, a notorious characteristic of sliding mode control approach is the discontinuity. In wh at follows, to overcome the af orementioned problems, an adapti ve fuzzy system is designed. Although fuzzy sliding mode control prevents the chattering phenomenon, it has some disadvantages such as disability in estima ting the bounds of the exis ting uncertainties and lack of stability proof of the closedloop system. Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as normbounded nonlinearities and external disturbances. While considering the uncertainties of the unmatched parameters, a novel optimal control strategy based on fuzzy sliding mode droop control is proposed. For some modelfree nonlinear systems, fuzzy con trollers fcs.
The sliding m ode control provides a goo d performance in tracking of some nonlinear systems. Singh fuzzy sliding mode control of plate vibrations 73 becomes less dependent on human logic. Finally, numerical results, which include a performance comparison of the proposed fuzzy sliding mode controller and a. Fuzzy controllers work like modified sliding mode controllers smcs. The adaptation of the output fuzzy set, and the sliding surface helps to keep the control signal at a lower level. Pdf adaptive fuzzy supertwisting sliding mode control. The remus was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated online. In this paper the design of fuzzy slidingmode control is discussed.
An equivalent control law is first designed using pole placement. Esobased fuzzy slidingmode control for a 3dof serial. This scheme guarantees the asymptotic stability of the closedloop system. Robust control strategy for electrically driven robot. The approach of the afsmc has the learning ability to generate the fuzzy control actions and adaptively compensates for. In this study, fuzzy slidingmode control fsmc method, which is one of the active control algorithms, has been applied for seismic isolation of earthquakeexcited structures. Sliding mode control as a nonlinear control plays an important role against different friction changes of road and different velocities in the presence of parameter uncertainties. At the first step, full dynamic equations of motion of a novel overactuated flying robot are developed. A new fuzzy sliding mode controller for vibration control. A fuzzy sliding mode control strategy for container cranes is discussed in this paper.
The sliding mode control provides a good performance in tracking of some nonlinear systems. In which, the sway motion of a payload is integrated into the trolley dynamics in a sliding surface. The proposed method combines the advantages of fuzzy logic and sliding mode control. Mathematical proof shows that the adaptive fuzzy sliding mode control of a closedloop system has global asymptotical stability.
This paper concerns the design of robust control systems using slidingmode control that incorporates a fuzzy tuning technique. Design of adaptive fuzzy sliding mode for nonlinear system control sinncheng lin and yungyaw chen department of electrical engineering, national taiwan university, taipei, taiwan, r0. The structure of a fc is derived from a nonlinear state equation representing a large class of physical systems. The parameters of the membership functions in the fuzzy rule base are. Design and implementation of fuzzy sliding mode controller. Design of selftuning fuzzy sliding mode control for tora. For a complex physical system represented by an aggregated fuzzy global model which. Hwang and lin 1992 proposed a fuzzy sliding mode controller and opened a way of designing an flc for higher order nonlinear system. Sliding mode control based on filter and observer 8. Discrete time sliding mode control, fuzzy control, parameter tuning, biochemical process control 1 introduction variable structure systems with a sliding mode have extensively been studied by many researchers.
Fuzzy slidingmode controllers with applications abstract. Fuzzy sliding mode control for erection mechanism with. Adaptive fuzzy sliding mode control using supervisory fuzzy control for 3 dof planar robot manipulators. The results of this simulation have been mentioned in the conclusion.
Adaptive sliding mode control for takagisugeno fuzzy systems conference paper pdf available in proceedings of the ieee conference on decision and control january 2010 with 70 reads. A stable hierarchical sliding mode control for a class of. In this paper a sliding mode control scheme smc applied to the permanent magnet synchronous motor pmsm speed control is designed and improved. To achieve this goal, a robust fuzzy sliding mode rfsm controller is introduced. The invariance properties and insensitivity to parameter variations are the most prominent features that are. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller. In the majority of ts fuzzy slidingmode control ways, a restrictive assumption is required, that is every subsystem. Sliding mode control with adaptive fuzzy compensation for.
Lmibased adaptive fuzzy integral sliding mode control of. A fuzzy sliding controller for nonlinear systems industrial. The dynamic model of the hha is obtained by lagrange method and is nonlinear in dynamics with inertia uncertainty and external disturbance. Fuzzy sliding mode control for active suspension system with. Compared to ordinary smcs, fuzzy controllers fcs have the advantage of higher robustness. Fuzzy sliding mode control for the vehicle height and leveling adjustment system of an electronic air suspension. Pdf fuzzy sliding mode control of structures researchgate.
In order to obtain the controlled objects better tracking performance within the reference signals boundary region, an adaptive fuzzy slidingmode controller is designed aiming at the uncertain secondorder nonlinear system. Fuzzy sliding mode control as a robust and intelligent nonlinear control technique is proposed to control processes with severe nonlinearity and unknown models. R department of instrumentation and control systems engineering, psg college of technology, coimbatore, 641004, india. Backstepping and dynamic surface sliding mode control 7. A fuzzy sliding mode control approach for nonlinear.
S department of instrumentation and control systems engineering, psg college of technology. The main contribution of the proposed method is that the fuzzy system is used to realize the. A robust and very attractive approach was proposed in yoo and ham, 1998. Therefore, a selflearning fuzzy control theory is proposed in this paper to model the traditional powervoltage droop control system. Discrete time fuzzy sliding mode control of unknown. The sliding mode control provides a good performance in the tracking of some nonlinear systems. Sliding mode fuzzy control for takagisugeno fuzzy systems. The structure of the system is partially unknown and does not require the bounds of uncertainty to be known. This study deals with the problem of controlling class of uncertain nonlinear systems in the presence of external disturbances. Lmibased adaptive fuzzy integral sliding mode control of mismatched uncertain systems. The adaptive fuzzy variable structure controller used in this paper employs fuzzy controller with nonlinear sliding mode 11, while the previous methods used the fuzzy controller with linear sliding mode.
Index termsfuzzy controller, slidingmode controller. Sliding mode control and fuzzy sliding mode control for dc. After taking account of the control sensitivitys requirement for the membership function, the controller capitalizes on the generalized membership functions. Fuzzy slidingmode control of structures sciencedirect. This paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. Fuzzy sliding mode control fsmc as a robust and intelligent nonlinear control technique is proposed to control processes with severe nonlinearity and unknown models. This paper proposes a new adaptive tracking fuzzy sliding mode controller for nonlinear systems in the presence of fuzzy compensation. Sliding mode control and fuzzy sliding mode control for dcdc converters 7 the continuous component insures the motion of the system on the sliding surface whenever the system is on the surface. The explored switched systems include unknown nonlinearities, deadzone and immeasurable states.
Adaptive fuzzy slidingmode control based on generalized t. Design of adaptive fuzzy sliding mode for nonlinear system. In this paper, a novel fuzzy simplex slidingmode controller is proposed for controlling a multivariable nonlinear system. A sliding mode droop controller with fast response is. Mimo fuzzy sliding mode control for threeaxis inertially. Switching control is then added to guarantee that the state reaches the sliding mode in the presence of parameter and disturbance uncertainties. Observerbased adaptive fuzzy sliding mode control for. Pdf adaptive sliding mode control for takagisugeno. An adaptive fuzzy sliding mode control scheme for robotic. Abstract an adaptive fuzzy sliding mode controller afsmc is proposed in this paper. Adaptive fuzzy global fast terminal sliding mode control. Further, in control input for eliminating undesirable chattering phenomena using the fuzzy logic, an adaptive fuzzy approximator is designed in such way that approximates the uncertainty bounds. Pdf an adaptive fuzzy sliding mode control algorithm is proposed for a class of continuous time unknown nonlinear systems. A fuzzy logic algorithm is added to mitigate chattering caused by discontinuous term in steady states, and to ensure good.
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