Modelling of Geared DC Motor and Position Control using Sliding Mode Controller and Fuzzy Sliding Mode Controller

Geared Dc motors can be controlled by many controllers which may include the conventional PID controllers and various other techniques. The sliding mode control is one of the good controllers which can be used for conditions like disturbances and parameter variations. The system responses are compared when PID controller is applied to the system. SMC methods yield nonlinear controllers which are robust against unmodeled dynamics and, internal and external perturbations. Also, due to system uncertainties that can lead to chattering phenomena in control law which can excite nonmodeled dynamics and may damage the process, different approaches, like intelligent techniques, are used to minimize these effects. In this paper, the FL will be considered in the design of SMC. Also, a PID will be used in the outer loop in the control law then the gains of the sliding term and PID term are tuned on-line by a fuzzy system, so the chattering is eliminated and response of system is improved against external load here. Presented simulation results make sure that the above proposal and demonstrate the performance improvement to the example of DC motor. The results obtained with SMC with changed gains are compared with the traditional PID controller and fuzzy sliding mode controller. The advantages and limitations of each method are discussed. General Terms Position control