Establishment of a sliding mode in a nonlinear system by tuning the parameters of a fuzzy controller
نویسندگان
چکیده
In this paper, a novel method for the establishment of a sliding mode in a nonlinear system is presented. The method discussed aims to minimize a cost measure, which is a function of the switching sugace. For this purpose, an adaptive fuzzy controller is selected and the parameters of the defuuifier are adjusted such that the cost is minimized and the system is enforced to behave in sliding mode. The paper considers a 2-DOF direct drive robotic manipulator as the test bed and a standard fuzzy system is used as the controller. The results obtained clearly stipulate that a sliding motion can be achieved by appropriately tuning the parameters of the controller.
منابع مشابه
Design On-Line Tunable Gain Artificial Nonlinear Controller
One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...
متن کاملDesign On-Line Tunable Gain Artificial Nonlinear Controller
One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملObserver Based Fuzzy Terminal Sliding Mode Controller Design for a Class of Fractional Order Chaotic Nonlinear Systems
This paper presents a new observer based fuzzy terminal sliding mode controller design for a class of fractional order nonlinear systems. Robustness against uncertainty and disturbance, the stability of the close loop system and the convergence of both the tracking and observer errors to zero are the merits of the proposed the observer and the controller. The high gain observer is applied to es...
متن کاملDistributed Fuzzy Adaptive Sliding Mode Formation for Nonlinear Multi-quadrotor Systems
This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is...
متن کامل