A sliding-mode approach to fuzzy control design

Author

Wu, J.C. ; Liu, T.S.

Author_Institution

Dept. of Mech. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan

Volume

4

Issue

2

fYear

1996

fDate

3/1/1996 12:00:00 AM

Firstpage

141

Lastpage

151

Abstract

This study develops a method for fuzzy control design with sliding modes in which robustness is inherent. Fuzzy control is formulated to become a class of variable structure system (VSS) control. Sliding modes are used to determine best values for parameters in fuzzy control rules, thereby robustness in fuzzy control can be improved. A switching manifold is prescribed and the phase trajectory is demanded to satisfy both the reaching condition and the sliding condition for sliding modes. Both computer simulations and experiments are carried out for an apparatus which can to some extent represent cornering motion of a motorcycle on which a rider leans to maintain stability. Experimental results demonstrate that the proposed method outperforms both proportional integral derivative (PID) control and neural-network-based fuzzy control

Keywords

control system synthesis; fuzzy control; robust control; variable structure systems; PID control; VSS; cornering motion; fuzzy control design; motorcycle; neural-network-based fuzzy control; phase trajectory; reaching condition; robustness; sliding condition; sliding-mode approach; stability; switching manifold; variable structure system control; Computer simulation; Control systems; Fuzzy control; Motorcycles; PD control; Robust control; Sliding mode control; Stability; Three-term control; Variable structure systems;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.486340

Filename

486340