Adaptive sliding mode control based on FLS

Author

Jeong, Sacheul ; Im, Kyumann ; Ham, Woonchul ; Yoo, Byungkook

Author_Institution

Dept. of Electron. Eng., Chonbuk Nat. Univ., Chonju, South Korea

Volume

1

fYear

1996

fDate

8-11 Sep 1996

Firstpage

601

Abstract

Fuzzy logic system (FLS) can be utilized to approximate a nonlinear function. In this paper, an adaptive sliding mode control (SMC) scheme in which FLS is used to approximate the unknown system function f in designing the SMC for nonlinear system is proposed. In order to reduce the approximation errors between the true nonlinear function and fuzzy approximator, a robust adaptive law is also proposed. The stability of the proposed control schemes are proved and the continuous control laws are designed by introducing the boundary layer concepts. These proposed control schemes are applied to an inverted pendulum system and comparisons between the two control schemes are shown in simulations

Keywords

adaptive control; function approximation; fuzzy control; fuzzy logic; fuzzy set theory; nonlinear control systems; robust control; variable structure systems; adaptive sliding mode control; boundary layer; function approximation; fuzzy control; fuzzy logic system; inverted pendulum system; nonlinear function; nonlinear system; robust adaptive control; stability; Adaptive control; Approximation error; Control systems; Fuzzy control; Fuzzy logic; Nonlinear systems; Programmable control; Robust control; Sliding mode control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on

Conference_Location

New Orleans, LA

Print_ISBN

0-7803-3645-3

Type

conf

DOI

10.1109/FUZZY.1996.551808

Filename

551808