DocumentCode :
2251180
Title :
Intelligent tensor product mode transformation-based three-sliding-surface sliding mode controller design
Author :
Sharina, Huang ; Guoliang, Zhao ; Yanhua, Yuan ; Qiuping, Ren ; Ying, Liu
Author_Institution :
School of Science, Heilongjiang University of Science and Technology, Harbin, 150022, P.R. China
fYear :
2015
fDate :
28-30 July 2015
Firstpage :
3258
Lastpage :
3263
Abstract :
This paper studied a novel chattering elimination method based on improved three-sliding-surface and tensor product mode transformation, and the intelligent adaptive sliding mode controller with reinforcement learning strategy is proposed for parallel-type double inverted pendulum (PIP) system. The tensor product model transformation based sliding mode controller was introduced firstly to lay the basis for intelligent adaptive sliding mode controller, and then an adaptive reinforcement learning algorithm is utilized to facilitate controller´s performance. In this paper, reinforcement learning algorithm is employed to find the instantaneous optimal value for the boundary layer width of saturation function which is important in the controller chattering reduction. The proposed controller with reinforcement learning strategy is verified by PIP system whereas the agent is rewarded for lower chattering situation and punished for higher case. Simulation results show that chattering can be reduced effectively by the adaptive three-sliding-surface sliding mode controller.
Keywords :
Adaptation models; Learning (artificial intelligence); Numerical models; Sliding mode control; Steady-state; Tensile stress; Sliding Mode Control; Tensor Product Model Transformation; Three-Sliding-Surface; Under-Actuated Systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
Type :
conf
DOI :
10.1109/ChiCC.2015.7260142
Filename :
7260142
Link To Document :
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