| Title |
Self Tuning Adaptive Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems |
| Authors |
김동식(Kim Dong-Sik) ; 박귀태(Park Gwi-Tae) ; 서삼준(Seo Sam-Jun) |
| Abstract |
In this paper, we proposed a self tuning adaptive fuzzy sliding control algorithms using gadient descent method to reduce chattering phenomenon which is viewed in variable control system. In design of FLC, fuzzy control rules are obtained from expert's experience and intuition and it is very difficult to obtain them. We proposed an adaptive algorithm which is automatically updated by consequence part parameter of control rules in order to reduce chattering phenomenon and simultaneously to satisfy the sliding mode condition. The proposed algorithm has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties in the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved. |