Hierarchical fuzzy sliding-mode control

Author

Mon, Yi-Jen ; Lin, Chih-Min

Author_Institution

Dept. OfElectrical Eng., Yuan-Ze Univ., Chung-li, Taiwan

Volume

1

fYear

2002

fDate

6/24/1905 12:00:00 AM

Firstpage

656

Lastpage

661

Abstract

A hierarchical fuzzy sliding-mode control is proposed to achieve asymptotic stability and favorable decoupling performance. In this approach, the nonlinear system is decoupled into several subsystems and the state response of each subsystem can be designed to be governed by a corresponding sliding surface. Then the whole system is controlled by a hierarchical sliding-mode controller. The proposed design method is applied to investigate the decoupling control of an inverted pendulum. Simulation is performed and a comparison between the proposed hierarchical fuzzy sliding-mode control and a conventional fuzzy sliding-mode decoupling control is made to demonstrate the effectiveness of the proposed design method

Keywords

asymptotic stability; control system synthesis; fuzzy control; hierarchical systems; nonlinear control systems; pendulums; variable structure systems; adaptive law; asymptotic stability; decoupling control; decoupling performance; hierarchical fuzzy sliding-mode control; inverted pendulum; nonlinear system; sliding surface; Adaptive control; Control systems; Couplings; Design methodology; Fuzzy control; Fuzzy logic; Fuzzy systems; Programmable control; Robust stability; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on

Conference_Location

Honolulu, HI

Print_ISBN

0-7803-7280-8

Type

conf

DOI

10.1109/FUZZ.2002.1005070

Filename

1005070