Fuzzy smoothing algorithms for variable structure systems

Author

Hwang, Yean-Ren ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., Nat. Central Univ., Chung-Li, Taiwan

Volume

2

Issue

4

fYear

1994

fDate

11/1/1994 12:00:00 AM

Firstpage

277

Lastpage

284

Abstract

A variable structure system (VSS) is a control system implementing different control laws in different regions of the state space divided by a set of boundary manifolds. The control input switches from one control law to another when the state crosses the boundary manifolds. In general, the control input may not be smooth when switching at these boundary manifolds and may excite high frequency dynamics. This paper proposes two fuzzy rule based algorithms for smoothing the control input. The merits of these fuzzy smoothing control algorithms are illustrated by two examples: a semiactive suspension system based on optimal control and a direct drive robot arm under discrete time sliding mode control. The controller design for these two examples is a blend of traditional control theoretic approaches and fuzzy rule based approaches

Keywords

fuzzy control; variable structure systems; VSS; boundary manifolds; direct drive robot arm; discrete time sliding mode control; fuzzy rule based approaches; fuzzy smoothing control algorithms; high frequency dynamics; optimal control; semiactive suspension system; variable structure systems; Control systems; Frequency; Fuzzy control; Fuzzy systems; Optimal control; Sliding mode control; Smoothing methods; State-space methods; Switches; Variable structure systems;

fLanguage

English

Journal_Title

Fuzzy Systems, IEEE Transactions on

Publisher

ieee

ISSN

1063-6706

Type

jour

DOI

10.1109/91.324807

Filename

324807