Fuzzy sliding mode control for an under-actuated system with mismatched uncertainties

Authors:
Seung-Yong Shin;Ju-Jang Lee
Affiliations:
Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology (KAIST), Gu-Sung dong, Yoo-Sung gu, Daejeon, Korea;Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology (KAIST), Gu-Sung dong, Yoo-Sung gu, Daejeon, Korea
Venue:
Artificial Life and Robotics
Year:
2010

Citing 2
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Abstract

This article presents a robust fuzzy sliding mode controller. The methodology of sliding mode control provides an easy way to control under-actuated nonlinear systems with uncertainties. The structure of the sliding surface is designed as follows. First, decouple the entire system into second-order systems so that each subsystem has a separate control target expressed in terms of a sliding surface. Second, from the sliding surface of subsystems, organize the main sliding surface system. Third, generate a control input for the main sliding surface to make whole subsystems move toward their sliding surface. A fuzzy controller is used to obtain a smooth boundary layer to the sliding surface. Finally, the fuzzy sliding mode controller presented is used to control an under-actuated nonlinear system, and confirms the validity of the proposed approach and its robustness to uncertainties.