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

Volume

1

fYear

1996

fDate

5-10 Aug 1996

Firstpage

590

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IECON.1996.571022

Filename

571022