Establishment of a sliding mode in a nonlinear system by tuning the parameters of a fuzzy controller

Author

Efe, M. Onder ; Kaynak, Okyay ; Wilamowski, Bogdan M.

Author_Institution

Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul, Turkey

Volume

5

fYear

2000

fDate

2000

Firstpage

3746

Abstract

In this paper, a novel method for the establishment of a sliding mode in a nonlinear system is presented. The method discussed aims to minimize a cost measure, which is a function of the switching surface. For this purpose, an adaptive fuzzy controller is selected and the parameters of the defuzzifier are adjusted such that the cost is minimized and the system is enforced to behave in sliding mode. The paper considers a 2-DOF direct drive robotic manipulator as the test bed and a standard fuzzy system is used as the controller. The results obtained clearly stipulate that a sliding motion can be achieved by appropriately tuning the parameters of the controller

Keywords

adaptive control; fuzzy control; manipulator kinematics; nonlinear control systems; variable structure systems; 2-DOF direct drive robotic manipulator; adaptive fuzzy controller; cost measure minimization; fuzzy system; nonlinear system; parameter tuning; sliding mode; Adaptive control; Control systems; Cost function; Fuzzy control; Fuzzy systems; Manipulators; Nonlinear systems; Programmable control; Robots; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886593

Filename

886593