Adaptive fuzzy sliding mode control for electro-hydraulic servo mechanism

Authors:
Otto Cerman;Petr Hušek
Affiliations:
Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic;Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic
Venue:
Expert Systems with Applications: An International Journal
Year:
2012

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Abstract

An innovative approach to adaptive fuzzy sliding mode control for a class of SISO continuous nonlinear systems with unknown dynamics and bounded disturbances is introduced in this paper. The main idea of the presented method consists in the introduction of the fuzzy self-tuning mechanism for adaptation of the sliding mode control parameters - extended feedback and switching gains. Such modification reduces the well-known chattering problem in classical sliding mode control. In comparison with the other algorithms eliminating this problem the proposed method results in faster convergence and more transparent and interpretable design of self-tuning mechanism. Moreover, the proposed method guaranteing the asymptotic reference signal tracking with bounded system signals can be easily implemented to high order systems. The performance of the presented control design is demonstrated on control of a nonlinear electro-hydraulic servo mechanism.