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Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule base.


Citation

Sulaiman, Nasri and Piltan, Farzin (2011) Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule base. International Journal of Robotics and Automation, 2 (3). pp. 146-156. ISSN 0826-8185

Abstract

In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTSMFC) is designed to rich the best performance. Sliding mode fuzzy controller is studied because of its model free, stable and high performance. Today, most of systems (e.g., robot manipulators) are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools (e.g., nonlinear sliding mode controller) are used in artificial intelligent control methodologies to design model free nonlinear robust controller with high performance (e.g., minimum error, good trajectory, disturbance rejection). Non linear classical theories have been applied successfully in many applications, but they also have some limitation. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages therefore this research focuses on applied sliding mode controller in fuzzy logic theory to solve the limitation in fuzzy logic controller and sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope. This paper focuses on adjusting the gain updating factor and sliding surface slope in PID like sliding mode fuzzy controller to have the best performance and reduce the limitation.


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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Keywords: Sliding mode fuzzy controller; Fuzzy logic theory; Robust controller; Sliding mode controler.
Depositing User: Muizzudin Kaspol
Date Deposited: 07 Oct 2014 04:40
Last Modified: 07 Oct 2014 04:40
URI: http://psasir.upm.edu.my/id/eprint/23294
Statistic Details: View Download Statistic

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