Design of a sliding mode controller by fuzzy logic

被引：0

作者：

Derbel, N. ^{[1
]}

Alimi, A.M. ^{[2
]}

机构：

[1] Research Unit on Intelligent Control, Design, and Optimisation of Complex Systems (ICOS), University of Sfax, ENIS, BP W, 3038, Sfax, Tunisia

[2] Research Group on Intelligent Machines (REGIM), University of Sfax, Tunisia

来源：

International Journal of Robotics and Automation | 2006年 / 21卷 / 04期

关键词：

This paper is concerned with a framework that unifies sliding mode control (variable structure control) and fuzzy logic control. The result is a hybrid sliding-and-fuzzy logic controller design that eliminates some major limitations of the two individual controls while retaining the merits of both. The object of this work is to realize a sliding mode controller by fuzzy logic without the computation of the so-called equivalent control; which is usually complex to express analytically. The proposed method concerns systems ill-defined or difficult-to-express models describing their dynamical behaviour. It consists in subdividing the state space into cells. The main idea is to consider the centre point of each state cell and apply different possibilities of control values to the system starting from the cell centre point. Then; the system will enter to an adjacent cell. Next a graph is constructed for which each cell is represented by a node and each arc between two cells is labelled by the control and pondered by the corresponding cost. This graph will be simplified and optimized by dynamic programming; with the minimization of the norm of the generalized error; in order to obtain the fuzzy logic rules. This results in fuzzy rules that express adequate control giving a fuzzy sliding mode controller. This approach is validated by considering the trajectory control of robot manipulators;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Journal article (JA)

引用

页码：241 / 246

共 50 条

[21] Fuzzy union reasoning based fuzzy sliding mode controller design
Kung, CC
Chen, TH
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES, 2000, : 566 - 571
[22] A robust longitudinal sliding-mode controller design for autonomous ground vehicle based on fuzzy logic
Hu, Ping
Guo, Jinghua
Li, Linhui
Wang, Rongben
International Journal of Vehicle Autonomous Systems, 2013, 11 (04) : 368 - 383
[23] Fuzzy sliding mode controller design: Indirect adaptive approach
Chen, JY
CYBERNETICS AND SYSTEMS, 1999, 30 (01) : 9 - 27
[24] Adaptive Fuzzy Sliding Mode Controller Design for Lorenz System
Kuo, Chao-Lin
Pai, Neng-Sheng
Yau, Her-Terng
2009 INTERNATIONAL WORKSHOP ON CHAOS-FRACTALS THEORIES AND APPLICATIONS (IWCFTA 2009), 2009, : 122 - +
[25] Genetic-based sliding mode fuzzy controller design
Wong, Ching-Chang
Huang, Bing-Chyi
Lai, Hung-Ren
Tamkang Journal of Science and Engineering, 2001, 4 (03): : 165 - 172
[26] Design of fuzzy sliding-mode controller for chaos synchronization
Kuo, Chao-Lin
Shieh, Cheng-Shion
Lin, Chia-Hung
Shih, Shun-Peng
ASIASIM 2007, 2007, 5 : 36 - +
[27] Fuzzy sliding mode controller design for satellite attitude tracking
Lu, Jian-Ting
Ma, Guang-Fu
Li, Chuan-Jiang
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2007, 37 (04): : 955 - 958
[28] Fuzzy integral sliding mode controller design for boost converters
Noh, Byung-Uk
Choi, Han Ho
NONLINEAR DYNAMICS, 2014, 78 (03) : 1863 - 1875
[29] Fuzzy integral sliding mode controller design for boost converters
Byung-Uk Noh
Han Ho Choi
Nonlinear Dynamics, 2014, 78 : 1863 - 1875
[30] Design of adaptive fuzzy sliding mode controller for robot manipulators
Sun, FC
Sun, ZQ
Feng, G
FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 62 - 67

← 1 2 3 4 5 →