Title :
Adaptive fuzzy sliding mode control for a class of uncertain dynamic systems
Author :
Shaoyuan, Li ; Yugeng, Xi
Author_Institution :
Inst. of Autom., Shanghai Jiaotong Univ., China
Abstract :
When a fuzzy controller is to be used, what is used is often a fuzzy sliding mode controller, because fuzzy logic systems (FLS) can be utilized to approximate complex uncertain dynamic nonlinear systems. In this paper an adaptive fuzzy sliding mode control (SMC) scheme in which FLS is used to approximate the unknown systems is proposed. In order to reduce the approximation errors between the true nonlinear function and FLS, an adaptive law is presented. The stability of the proposed control schemes are proved using Lyapunov stability theory. These proposed control schemes are applied to an inverted pendulum system to shown the effectiveness
Keywords :
Lyapunov methods; adaptive control; approximation theory; fuzzy control; large-scale systems; nonlinear control systems; nonlinear dynamical systems; stability; uncertain systems; variable structure systems; FLS; Lyapunov stability theory; adaptive fuzzy sliding mode control; approximation error reduction; complex uncertain dynamic nonlinear system approximation; fuzzy logic systems; inverted pendulum system; uncertain dynamic systems; unknown systems; Adaptive control; Approximation error; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.862795
