Design and Implementation of Fuzzy Sliding-Mode Controller for a Wedge Balancing System

Authors:
Jeng-Hann Li;Tzuu-Hseng S. Li;Ting-Han Ou
Affiliations:
IC²S Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan, 70101, Taiwan, R.O.C.;IC²S Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan, 70101, Taiwan, R.O.C./ e-mail: thsli@mail.ncku.edu.tw;IC²S Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan, 70101, Taiwan, R.O.C.
Venue:
Journal of Intelligent and Robotic Systems
Year:
2003

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Abstract

In this paper, we address the design and implementation of fuzzy sliding-mode controller for balancing a wedge system. At first, we examine the mathematical model of the wedge balancing system. The dynamic system is complex and ill defined; hence we propose the fuzzy sliding-mode control (FSMC) method to achieve the control objective. The proposed control method enhances the ability of fuzzy logic control so that the minimal number of fuzzy inference rules is systematically obtained even the plant parameters are unknown. Both computer simulations and real-time experiments are exploited to demonstrate the validity and feasibility of the developed control scheme.