Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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퍼지 논리를 이용한 슬라이딩 모드 제어기의 인자 자동 튜닝

  • Ryu, Se-Hee (Dept. of Mechanical Design, Graduate School of Hanyang University) ;
  • Park, Jahng-Hyon (Dept.of Mechanical Engineering, Hanyang Unviersity)
  • 류세희 (한양대학교 대학원 기계설계학과) ;
  • 박장현 (한양대학교 기계공학부)
  • Published : 2001.12.01
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Abstract

Sliding mode control guarantees robustness in the presence of modeling uncertainties and external disturbances. However, this can be obtained at the cost of high control activity that may lead to chattering As one way to alleviate this problem a boundary layer around sliding surface is typically used. In this case the selection of controller gain, control ban width and boundary layer thickness is a crucial problem for the trade-off between tracking error and chattering. The parameter tuning is usually done by trail-and-error in practice causing significant effort and time. An auto tuning method based on fuzzy rules is proposed in the paper in this method tracking error and chattering are monitored by performance indices and the controller tunes the design parameters intelligently in order to compromise both indices. To demonstrate the efficiency of the propose method a mass-spring translation system and a roboic control system are simulated and tested It is shown that the proposed algorithm is effective to facilitae the parameter tuning for sliding mode controllers.

Keywords

References

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