Design of adaptive fuzzy sliding mode for nonlinear system. Fuzzy slidingmode controllers with applications ieee. Pdf fuzzy sliding mode control for applying to active. Sliding mode fuzzy control ieee conference publication. The aim of this study is to develop an adaptive fuzzy fractionalorder slidingmode control affsmc strategy to control the mover position of a permanent magnet linear synchronous motor pmlsm system. By the design of an intelligent sliding mode controller using fuzzy logic, a robust control method for controlling nonlinear.
This paper presents a novel approach to the design of an adaptive fuzzy sliding mode controller for depth control of an autonomous underwater vehicle auv. A practical design that combines a fuzzy adaptation technique with sliding mode control to enhance robustness and sliding performance in a class of uncertain. Sliding modelike fuzzy logic control with adaptive boundary. In this paper, a new indirect fuzzy sliding mode control with varying boundary layer is presented for uncertain nonlinear systems via timevariant sliding function in the presence of external disturbances. In 7, a hybrid terminal slidingmode observer was proposed based on the nonsingular terminal sliding mode and the highorder sliding mode for the rotor position and speed estimation in one pmsm control system. Fuzzy sliding mode controller design using takagisugeno.
Design and implementation of fuzzy sliding mode controller. Time history of the longperiod artificial earthquake. To weakening the chattering which is common in sliding mode control, fuzzy sliding mode control is developed using fuzzy inference to adjust the thickness of the boundary layer in real time. Design of a unified adaptive fuzzy observer for uncertain. Sliding mode controller design sliding mode control is a special version of an ono control. The proposed fuzzy smc performance is tested in simulation and experimental.
The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. Design a robust selftuning fuzzy sliding mode control for. Pdf slidingmode speed control of pmsm with fuzzylogic. Proportionalintegralderivativefuzzy sliding mode control for. Abstractit is well known that slidingmode control can give good transient. Another study done by chiang and his coauthors presents adaptive fuzzy slidingmode control for the structural control of baseisolated buildings. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. Pdf adaptive fuzzy sliding mode control for uncertain. Dissipativitybased fuzzy integral sliding mode control of. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control.
The parameters of the membership functions in the fuzzy rule base are. 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. Parameters tracking differentiator based on the fuzzy control and varied sliding mode. Adaptivefuzzy control has been shown to be an effective control approach for robustness of nonlinear systems. The fuzzy sliding mode controller fsmc combines the intelligence of a fuzzy inference system with the sliding mode controller. These robustness properties make this discontinuous control strategy very attractive. Most flow control valves can also exhibit some hard nonlinearities such as deadzone due to valve spool overlap. Fuzzy slidingmode controllers with applications abstract.
Index termscombining controllers, fuzzy sliding, lyapunov. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. The sliding mode control smc attracted so many interests of scholars during the past several. The control approach introduces a new method of decomposition to overcome the strict constraint of model format in conventional sliding mode. Fuzzy sliding mode control method for dcdc buck converter. In this paper, a novel fuzzy simplex slidingmode controller is proposed for controlling a multivariable nonlinear system. 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. Most of the work reported in the design of sliding mode fuzzy controller use representative functions like. This paper concerns the design of robust control systems using sliding mode control that incorporates a fuzzy tuning technique.
Adaptive fuzzy global fast terminal sliding mode control. Us10220710b2 fuzzy logic based sliding mode control of. It begins by presenting a discrete variable speed reaching law and a discretetime slidingmode controller dsmc designed using the proposed reaching law, followed by an analysis of their stability and dynamic performance. Pdf this paper deals with a new adaptive fuzzy slidingmode. In this paper a fuzzy sliding mode control scheme with the sliding surface as input is proposed in order to improve the robustness and performance of a buckboost dcdc converter. Fuzzy logic based sliding mode control of a variable voltage converter cn201610892802. To better accommodate the characteristics of ts fuzzy models, an appropriate integraltype fuzzy switching surface is put forward by taking the statedependent input matrix. In 6, the fuzzy slidingmode approach was applied to a sixphase induction machine. A slidingmode controller with simple fuzzy logic is then proposed to further strengthen the dynamic performance of the proposed slidingmode controller. Compared to ordinary smcs, fuzzy controllers fcs have the advantage of higher robustness. A fuzzy sliding controller for nonlinear systems industrial. Control of wind turbine based on dfig using fuzzypi and sliding mode controllers b. First, the mathematical model of the pmlsm is investigated by using the principle of field oriented control.
The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions. This phenomenon demonstrates that the adaptive fuzzy sliding mode control works well with different frequency contents. The latter is flc based on sliding mode or sliding mode. Indirect fuzzy sliding mode control with varying boundary. First, an indirect fieldorientation method for an im drive is introduced briefly. Citeseerx document details isaac councill, lee giles, pradeep teregowda. In this paper a sliding mode control scheme smc applied to the permanent magnet synchronous motor pmsm speed control is designed and improved. Moreover, the control gain, which is the most important component, is a flexible gain and is tuned based. 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. 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.
The statefeedback control law is not a continuous function of. Design of a fuzzy model based sliding mode control for. 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. Design is decoupled into two independent subproblems. Fuzzy logic based sliding mode control of variable voltage converter de102016119126. The motivation of this controller is to introduce the lyapunov function vx. Abstractdirecting at the problem of torsional vibration occurred in the startup procedures of long shaft drive. The obtained results demonstrate that the proposed fuzzy.
A novel fuzzy slidingmode control for discretetime. To weakening the chattering which is common in sliding mode control, fuzzy sliding. The key idea is to apply strong control action when the system deviates from the desired behavior. Fuzzy sliding mode control for applying to active vehicle suspensions. First, special attention will be payed to the analysis of sliding mode control properties, next a generalization of sliding mode control structure to large time varying systems is presented and finally this concept will be extended to fuzzy controllers. This scheme guarantees the asymptotic stability of the closedloop system. Design of selftuning fuzzy sliding mode control for tora. Optimal design of the fuzzy sliding mode control for a dc. Fuzzy fuzzy logic a form of knowledge representation suitable for notions that cannot be defined precisely, but which depend upon their contexts fuzzy logicis a form ofmanyvalued logicin which thetruth values of variables may be any real number between 0 and 1. So far, auvs dynamics are highly nonlinear and the hydrodynamic coefficients of the vehicles are difficult to estimate, because of the variations of these coefficients with. Nevertheless, a notorious characteristic of sliding mode control approach is the discontinuity.
This work describes the development of an adaptive fuzzy sliding mode controller for an electrohydraulic system with unknown deadzone. The mentioned problems in the conventional slidingmode control theory can be compensated with fl principles. Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. Design of an intelligent sliding mode controller using. This study is based on an analogy between fuzzy control and sliding mode control techniques. Fuzzy slidingmode control of structures sciencedirect.
Hwang and lin 1992 proposed a fuzzy sliding mode controller and opened a way of designing an flc for higher order nonlinear system. The sliding mode control approach is one of the robust control methods to handle systems with model uncertainties. This paper concerns the design of robust control systems using slidingmode control that incorporates a fuzzy tuning technique. Parameters tracking differentiator based on the fuzzy. The basic configuration of a fuzzy logic system consists in a fuzzifier, some fuzzy ifthen rules, a fuzzy inference engine and a defuzzifier, as shown in fig.
Systematic design procedures for sliding mode controller are well known and available in the many literature. The other approach that is proposed in the design of abs controller is fuzzysliding mode control fsmc design method which is the combination of fuzzy control and. Strojniski vestnik journal of mechanical engineering, s. In regard to the sliding mode, the fuzzy controller of input and output signals approximates the signals of the proportionalintegralderivative. The simulation results show that the proposed controller overcomes the chattering problem and it is proved to be robust for the cases of the load and input voltage. Adaptivefuzzy slidingmode control for the attitude system of a. Fuzzy controllers work like modified sliding mode controllers smcs. In this paper by using fuzzy rules and a nonclassic method, an adaptive fuzzy sliding mode controller will be presented. The fuzzy inference engine uses the fuzzy ifthen rules to perform a mapping from an input vector e rp to an output f e r.
A robust and very attractive approach was proposed in yoo and ham, 1998. At the first step, full dynamic equations of motion of a novel over. Fuzzy slidingmode control using adaptive tuning technique. Fuzzy slidingmode control for speed control for pmsm. However, in these controllers the large amount of fuzzy rules makes the analysis complex. Beijing university of technology, beijing 83, china. The invariance properties and insensitivity to parameter variations are the most prominent features that are. Fuzzy sliding mode control, linear algebraic method, ball and plate control, fuzzy logic control, genetic algorithm. After taking account of the control sensitivitys requirement for the membership function, the controller capitalizes on the generalized membership functions. The performance of the semiactive suspensions is evaluated in both the time and frequency domains. Fuzzy logic systems fls are applied to sliding mode control systems in order to improve the. Fuzzy sliding mode control of container cranes springerlink. Discrete time fuzzy sliding mode control of unknown.
Pdf fuzzy sliding mode control of structures researchgate. 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. Mode control is developed using fuzzy inference to adjust the thickness of. Sliding mode control provides insensitivity to parameter variations and disturbances. This study mainly deals with the key problem of chattering phenomena on the conventional sliding mode control smc and investigates an adaptive fuzzy sliding mode control afsmc system for an indirect fieldoriented induction motor im drive to track periodic commands. Pdf fuzzy sliding mode control of a switched reluctance. This paper considers the slidingmode control problem for discretetime uncertain systems.
This chapter introduces four kinds of fuzzy sliding mode controllers design, including fuzzy sliding mode control based on equivalent control, sliding mode. In which, the sway motion of a payload is integrated into the trolley dynamics in a sliding surface. Index terms adaptive control, fuzzy control, robotics, sliding. 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. 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. In this paper, the issue of full control both position and orientation controls of an overactuated unmanned flying robot is addressed using an adaptive fuzzy global fast terminal sliding mode control afgftsmc scheme in the presence of external disturbances and parametric uncertainties. This paper is concerned with dissipativitybased fuzzy integral sliding mode control fismc of continuoustime takagisugeno ts fuzzy systems with matchedunmatched uncertainties and external disturbance. Robust control of inverted pendulum using fuzzy sliding. Finally, the presented dsmc and the dsmc with fuzzy control for adjusting the parameters in this paper are compared with one of the previous proposed classic dsmc systems. Pdf in this paper, we propose to combine the fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems subject to external. The closedloop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. Fuzzy slidingmode controllers with applications ieee journals.
A slidingmode controller with simple fuzzy logic is then. The control law superposes equivalent control, switching control, and fuzzy control. The proposed fuzzysliding mode controller is designed and fabricated. An equivalent control law is first designed using pole placement. The sliding m ode control provides a goo d performance in tracking of some nonlinear systems. Abstract an adaptive fuzzy sliding mode controller afsmc is proposed in this paper. Optimal design of the fuzzy sliding mode control for a dc servo drive. Robust adaptive sliding mode control using fuzzy modelling for a class of uncertain mimo nonlinear systems w. Nevertheless, a notorious characteristic of sliding mode control approach is the discontinuity around the switching hyperplane, that. The maximum control forces of the adaptive fuzzy sliding mode control are also relatively low, all less than 11% of the superstructure weight. Postioncontrolandtrajectorytrackingofthebpsystemusingfsmc.
Applied solar energy, springer verlag, 2012, 48 2, pp. A fuzzy sliding mode control strategy for container cranes is discussed in this paper. Austrian ejournals of universal scientific organization. The structure of a fc is derived from a nonlinear state equation representing a large class of physical systems. Then sliding mode control is used for the system due to its strong antiinterference ability. In the majority of ts fuzzy sliding mode control ways, a restrictive assumption is required, that is every subsystem. Based on rejection parameter and rejection regulator, a timevariant sliding surface as an adaptive filter is defined.
Combining fl and smc theories, fsmc has the advantages of both smc and flc. Adaptive fuzzy slidingmode control based on generalized t. Precision motion control of permanent magnet linear. Sliding mode controller, nonclassical control, fuzzy logic, adaptive fuzzy sliding mode controller 1. Novel adaptive fuzzy sliding mode controller for depth. Pdf an adaptive fuzzy slidingmode controller researchgate. The results of this simulation have been mentioned in the conclusion. An improved efficiency of fuzzy sliding mode control of. Hence, there are the socalled fuzzy sliding mode control fsmc 1118 and sliding mode fuzzy logic control smfc 1926. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. A fuzzy logic controller flc based on vsc with sliding mode concept is used to control the speed of srm drives. The sliding mode control provides a good performance in the tracking of some nonlinear systems. A fuzzy logic algorithm is added to mitigate chattering caused by discontinuous term in steady states, and to ensure good performances of the controller in transient states. Fuzzy logic is a very powerful method of reasoning when mathematical models are not available and input data are imprecise.
843 832 998 713 677 1357 701 1132 634 574 1205 1346 837 418 918 133 511 858 1296 240 492 371 1539 739 161 335 344 1219 1483 125 1422 639 186 1449 169 1213 810 8 597 525 98 23 752 1401