Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy Sliding Mode Control of Nonlinear System Based on T-S Fuzzy Dynamic Model

T-S 퍼지 모델을 이용한 비선형 시스템의 퍼지 슬라이딩 모드 제어

  • 유병국 (한려대학교 멀티미디어정보통신공학과) ;
  • 양근호 (한려대학교 멀티미디어정보통신공학과)
  • Published : 2004.02.01
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Abstract

This paper suggests the design and analysis of the fuzzy sliding mode control for a nonlinear system using Takagi-Sugeno(T-S) fuzzy model. In this control scheme, identifying procedure that the input gain matrices in a T-S fuzzy model are manipulated into the same one is needed. The input disturbances generated in the identifying procedure are resolved by incorporating the disturbance treatment method of the conventional sliding mode control. The proposed control strategy can also treat the input disturbances that can not be linearized in the linearization procedure of T-S fuzzy modeling. Design example for the nonlinear system, an inverted pendulum on a cart, demonstrates the utility and validity of the proposed control scheme.

본 논문에서는 Takagi-Sugeno(T-S) 퍼지 시스템 모델을 이용한 비선형 시스템의 퍼지 슬라이딩 모드제어방식을 제안한다. 이 방식에서는 하나의 T-S 퍼지 모델을 구성하는 각 선형 동력학의 입력 이득행렬을 단일화 하는 과정을 필요로 한다. 이 과정에서 생성되는 입력 불확실성은 슬라이딩 모드 제어의 외란에 대한 처리 방법으로 해결될 수 있다. 또한 기존의 T-S 퍼지 모델에 대한 제어방식에서 처리하지 못했던, 상태변수에 독립적이기 때문에 선형화되지 않는 비선형 항에 대한 문제를 해결할 수 있다. 제안된 제어시스템의 안정도를 보이며 제어 입력이 슬라이딩 평면에 대한 도달조건을 만족함을 보인다. 제안된 제어방식의 타당성과 제어기 설계과정을 보이기 위하여 역진자 시스템에 적용한 시뮬레이션 결과를 보인다.

Keywords

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