Title :
Adaptive fuzzy sliding mode control of nonlinear system: the first control scheme
Author :
Yoo, Byungkook ; Jeoung, Sacheul ; Im, Kyumann ; So, Ilyoung ; Ham, Woonchul
Author_Institution :
Dept. of Med. Eng., Hanlyo SanUp Univ., Chonnam, South Korea
Abstract :
In this paper, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive SMC scheme in which the fuzzy logic system (approximator) is used to approximate the unknown system function f in designing the SMC for a nonlinear system is proposed. In order to reduce the approximation errors between the true nonlinear function and fuzzy approximator, a robust adaptive law is also proposed. The stabilities of the proposed control schemes are proved. These proposed control schemes are applied to an inverted pendulum system and the comparisons between the two control schemes are shown in simulations
Keywords :
adaptive control; fuzzy control; nonlinear control systems; pendulums; robust control; variable structure systems; adaptive fuzzy sliding mode control; approximation errors reduction; approximator; control scheme stability; fuzzy approximator; fuzzy logic system; inverted pendulum system; nonlinear system; robust adaptive law; true nonlinear function; unknown system function approximation; Adaptive control; Approximation error; Fuzzy control; Fuzzy logic; Fuzzy systems; Nonlinear systems; Programmable control; Robustness; Sliding mode control; Stability;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.571022
