DocumentCode :
1443270
Title :
Fuzzy sliding-mode controllers with applications
Author :
Ha, Q.P. ; Nguyen, Q.H. ; Rye, D.C. ; Durrant-Whyte, H.F.
Author_Institution :
Centre for Field Robotics, Sydney Univ., NSW, Australia
Volume :
48
Issue :
1
fYear :
2001
fDate :
2/1/2001 12:00:00 AM
Firstpage :
38
Lastpage :
46
Abstract :
This paper concerns the design of robust control systems using sliding-mode control that incorporates a fuzzy tuning technique. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is first designed using pole placement. Switching control is then added to guarantee that the state reaches the sliding mode in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to improve control performance and to reduce chattering in the sliding mode. The practical application of fuzzy logic is proposed here as a computational-intelligence approach to engineering problems associated with sliding-mode controllers. The proposed method can have a number of industrial applications including the joint control of a hydraulically actuated mini-excavator as presented in this paper. The control hardware is described together with simulated and experimental results. High performance and attenuated chatter are achieved. The results obtained verify the validity of the proposed control approach to dynamic systems characterized by severe uncertainties
Keywords :
control system synthesis; excavators; fuzzy control; hydraulic control equipment; pole assignment; robust control; uncertain systems; variable structure systems; attenuated chatter; computational-intelligence approach; disturbance uncertainties; equivalent control; equivalent control law; fuzzy sliding-mode controllers; fuzzy tuning technique; hydraulically actuated mini-excavator; joint control; parameter uncertainties; pole placement; robust control systems; switching control; Electrical equipment industry; Fuzzy control; Fuzzy logic; Fuzzy systems; Hardware; Industrial control; Robust control; Sliding mode control; State feedback; Uncertainty;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/41.904548
Filename :
904548
Link To Document :
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