Design of sliding mode control of nonlinear system based on Takagi-Sugeno fuzzy model

Author

Chaouech, Lotfi ; Chaari, Abdelkader

Author_Institution

Unit of Res. C3S, Univ. of Tunis, Tunis, Tunisia

fYear

2013

fDate

22-24 June 2013

Firstpage

1

Lastpage

6

Abstract

In this paper, a sliding mode control algorithm based on Takagi-Sugeno (T-S) fuzzy model for a class of nonlinear systems is discussed. For a complex physical system represented by an aggregated fuzzy global model which compromises a set of linear models, conditions for the fuzzy sliding mode control to stabilize the global fuzzy model are given. Firstly, we choose the sliding surface which gives a good behaviour during sliding mode. It is formulated as an assignment of the poles of uncertain nonlinear system in a convex optimization area. Secondly, we design a nonlinear control law leading the state trajectory on the sliding surface in a finite time. A numerical application of a flexible joint manipulator is given to validate the theoretical results of our approach.

Keywords

control system synthesis; fuzzy control; manipulators; nonlinear control systems; optimisation; stability; uncertain systems; variable structure systems; Takagi-Sugeno fuzzy model; aggregated fuzzy global model; complex physical system; convex optimization area; flexible joint manipulator; fuzzy sliding mode control; global fuzzy model stabilization; nonlinear control law; sliding mode control design; sliding surface; uncertain nonlinear system; Bismuth; Joints; Nonlinear systems; Numerical models; Robustness; Sliding mode control; Vectors; Robustness; Sliding Mode Control; T-S fuzzy models; Variable Structure Control; nonlinear systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Information Technology (WCCIT), 2013 World Congress on

Conference_Location

Sousse

Print_ISBN

978-1-4799-0460-0

Type

conf

DOI

10.1109/WCCIT.2013.6618743

Filename

6618743