제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
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- Pages.1516-1520
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- 2005
Design of a Fuzzy Model Based Sliding Mode Control for Nonlinear Systems
- Seo, Sam-Jun (Department of Electrical & Electronic Engineering, Anyang University) ;
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Kim, Dong-Sik
(Division of Information and Technology Engineering, Soonchunhyang University)
- 발행 : 2005.06.02
초록
We proposed the indirect adaptive fuzzy model based sliding mode controller to control a nonaffine nonlinear systems. Takagi-Sugano fuzzy system is used to represent the nonaffine nonlinear system and then inverted to design the controller at each sampling time. Also sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. The proposed controller and adaptive laws guarantee that the closed-loop system is stable in the sense of Lyapunov and the output tracks a desired trajectory asymptotically.