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On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller based on Lyaponuv Theory.


Citation

Sulaiman, Nasri and Piltan, Farzin and Gavahian, Atefeh and Roosta, Samaneh and Soltani, Samira (2011) On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller based on Lyaponuv Theory. International Journal of Robotics and Automation, 2 (5). pp. 386-404. ISSN 2180-1312

Abstract

Classical sliding mode controller is robust to model uncertainties and external disturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has difficulty in handling unstructured model uncertainties. One can overcome this problem by combining a sliding mode controller and fuzzy system together. Fuzzy rules allow fuzzy systems to approximate arbitrary continuous functions. To approximate a time-varying nonlinear system, a fuzzy system requires a large amount of fuzzy rules. This large number of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy sliding mode controller to online tune the parameters of the fuzzy rules in use will ensure a moderate computational load. Refer to this research; tuning methodology can online adjust both the premise and the consequence parts of the fuzzy rules. Since this algorithm for is specifically applied to a robot manipulator.


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Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
Keywords: Classical sliding mode controller; Robust uncertainties; Chattering phenomenon
Depositing User: Muizzudin Kaspol
Date Deposited: 10 Sep 2014 04:34
Last Modified: 10 Sep 2014 04:34
URI: http://psasir.upm.edu.my/id/eprint/23363
Statistic Details: View Download Statistic

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