Adaptive fuzzy sliding mode control scheme for uncertain systems |
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| Authors: | Navid Noroozi Mehdi Roopaei M Zolghadri Jahromi |
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| Institution: | 1. School of Electrical and Computer Engineering, Shiraz University, Post Box: 71955-177, Shiraz, Iran;2. Centre for Computational Intelligence, De Montfort University, Leicester LE1 9BH, UK;1. School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin 300387, China;2. Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, Tianjin 300387, China;1. LAJ, Department of Automatic Control, University of Jijel, BP. 98, Ouled-Aissa, 18000 Jijel, Algeria;2. LCP, Department of Automatic Control, Ecole Nationale Polytechnique (ENP), 10, Av. Hassen Badi, BP182, Algiers, Algeria;3. GREYC, UMR 6072 CNRS, Université de Caen, ENSICAEN, 6 Bd Maréchal Juin, 14050 Caen Cedex, France;1. Graduate School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan 680-749, Republic of Korea;2. School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan 680-749, Republic of Korea |
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| Abstract: | Most physical systems inherently contain nonlinearities which are commonly unknown to the system designer. Therefore, in modeling and analysis of such dynamic systems, one needs to handle unknown nonlinearities and/or uncertain parameters. This paper proposes a new adaptive tracking fuzzy sliding mode controller for a class of nonlinear systems in the presence of uncertainties and external disturbances. The main contribution of the proposed method is that the structure of the controlled system is partially unknown and does not require the bounds of uncertainty and disturbance of the system to be known; meanwhile, the chattering phenomenon that frequently appears in the conventional variable structure systems is also eliminated without deteriorating the system robustness. The performance of the proposed approach is evaluated for two well-known benchmark problems. The simulation results illustrate the effectiveness of our proposed controller. |
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