Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Introduction to fuzzy sets, fuzzy logic, and fuzzy control systems provides that training by introducing a rigorous and complete fundamental theory of fuzzy sets and fuzzy logic, and then building a practical theory for automatic control of uncertain and illmodeled. Lakhekar, tuning and analysis of sliding mode controller based on fuzzy logic, international journal of control and automation 53 2012, 93110. Performance comparison of pi, sliding mode 7 figure 7. Does fuzzy based sliding mode control solve the chattering. Most of researcher is applied fuzzy logic theorem in sliding mode controller to design a model free controller. This volume deals with applications of fuzzy logic control in various domains.
The sliding mode observer technique was used for the fault detection purpose based on residual signal which represent the difference between output of the process and output of the model that used as a fault indicator, while the fuzzy logic technique. Waghmare, dynamic fuzzy sliding mode control of underwater vehicles, springer international publishing, cham, 2015, pp. Electronics free fulltext control method for phase. Pdf sliding mode control and fuzzy logic control have been combined. The connection of the sliding mode controller and the fuzzy logic controller is shown in fig. Introduction to fuzzy sets, fuzzy logic, and fuzzy control.
Therefore, the resulting system can resolve the conflict between the opposing requirements of static and dynamic accuracy that are. A modified form of fuzzy sliding mode control, fsmc, is designed to give an enhancement over traditional sliding mode control, smc and fuzzy logic control. This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the takagisugeno forms with. Whether youve loved the book or not, if you give your honest and detailed thoughts then people will find new books that are right for them. In this study, a novel approach to the supertwisting sliding mode control of dynamic uncertain systems is proposed. Fuzzy sliding mode controller design for spacecraft attitude. Finally, the presented dsmc and the dsmc with fuzzy control for adjusting the parameters in this paper are compared with one of the previous proposed classic dsmc systems. The proposed fuzzy smc performance is tested in simulation and experimental. Fuzzy slidingmode controllers with applications ieee journals. The rst substantially is fuzzy adaptive sliding mode control algorithm in which unknown system dynamics are. In this note, based on the variable surface, a fuzzy sliding model controller is developed for guaranteeing the tracking performance, in particular, timevarying uncertain parameters are approximated by fuzzy system, and the adaptive sliding mode control is designed so as to compensate for any unknown reconstruction error, through parameter. Design of selftuning fuzzy sliding mode control for tora system lonchen hung, hungping lin, hungyuan chung department of electrical engineering, national central university, o.
Design of selftuning fuzzy sliding mode control for tora system. A hybrid control based on fuzzy logic and a second order. Hence, there are the socalled fuzzy sliding mode control fsmc 1118 and sliding mode fuzzy logic control smfc 1926. On the basis of fuzzy logic, a sliding mode control is developed for a class of nonlinear systems. Pdf modeling and control of ac machine using matlab. A secondorder sliding mode and fuzzy logic control to. The paper presents a reducedcomplexity slidingmode fuzzylogic controller.
Pdf sliding mode control synthesis using fuzzy logic researchgate. Adaptive sliding mode control for takagisugeno fuzzy systems. A fuzzy control system is a control system based on fuzzy logica mathematical system that analyzes analog input values in terms of logical variables that take on continuous values between 0 and 1, in contrast to classical or digital logic, which operates on discrete values. Sliding mode control andrzej bartoszewicz download. A novel adaptive supertwisting sliding mode controller with. Chatteringfree robust adaptive sliding mode speed control for switched reluctance motor. A fuzzy control system is a control system based on fuzzy logica mathematical system that analyzes analog input values in terms of logical variables that take on continuous values between 0 and 1, in contrast to classical or digital logic, which operates on discrete values of either 1 or 0 true or false, respectively. Adaptive fuzzy sliding mode control using supervisory. A simple robust fuzzylogic slidingmode controller of the diagonal. Model based fuzzy control uses a given conventional or fuzzy open loop model of the plant under control to derive the set of fuzzy rules for the fuzzy controller.
Conventionally, the output voltage of a psfbct converter is controlled by using a proportionalintegral pi controller. In addition, a fuzzy logic current compensator flcc for reducing torque ripple is presented. This book provides an easy way to learn nonlinear control systems such as feedback linearization technique and slidng mode control structure variable control which are one of the most used. The aim of the developed control method is to automatically tune and optimize the scaling factors and the membership functions of the fuzzy logic controllers flc. The proposed fuzzysmc performance is tested in simulation and experimental. Leonid rezniks fuzzy controllers is unlike any other book on fuzzy control. Design of adaptive fuzzy sliding mode for nonlinear system control sinncheng lin and yungyaw chen department of electrical engineering, national taiwan university, taipei, taiwan, r0. A fuzzy sliding mode controller fsmc is proposed to control the dynamics of a bus suspension system. One approach taken by many researchers is to use fuzzy logic to smooth the chattering in sliding mode. Design of a singleinput fuzzy logic controller and its properties. Fuzzy logic control is a heuristic approach that easily embeds the knowledge and key elements of human thinking in the design of nonlinear controllers 4143. In this chapter, fuzzy sliding mode controllers and sliding mode fuzzy controllers were distinguished, and their respective properties were discussed. It can also be adapted to a variety of existing and future satellites with minimal effort. Qualitative and heuristic considerations, which cannot be handled by conventional control theory, can be used for control.
The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. Delve into the type2 fuzzy logic systems and become engrossed in the parameter update algorithms for type1 and type2 fuzzy neural networks and their stability analysis with this book. Sliding mode control and fuzzy logic control have been combined together in a variety of ways. However, chattering is one problem, which limits the use of the sliding mode to control dc motors in industry. Many theoretical studies about sliding mode control are reported, we note that its major practical application are robots and motors 1, 2 and 4. Fuzzy logic control, intelligent control, medical robotics, robot control, sliding mode control, surgical robot. To overcome this drawback, in this paper, a new sliding mode control algorithm using concepts from fuzzy theory and fuzzy logic is developed. Fuzzy sliding mode controller design using takagisugeno. In this paper, a robust fuzzy slidingmode controller for active suspensions of a nonlinear halfcar model is introduced. Combine sliding mode control and fuzzy logic control for.
The adaptive fuzzy variable structure controller developed in this paper employs fuzzy controller with nonlinear sliding mode. A recent hardware design and implementation of fuzzy logic controllers builds all fuzzy control modules on a fieldprogrammable gate array fpga chipset. The relative degree is determined for the respective control output. A novel adaptive supertwisting sliding mode controller. Pdf comparison of sliding mode fuzzy controller and fuzzy sliding. Hybrid control, second order sliding mode controller sosmc, fuzzy logic. First few chapters are lengthy and theoretical but i think they set the right mindset to understand the subject in depth. Slide mode control fuzzy logic controller slide mode controller fuzzy logic. Therefore, based on the analysis of the mathematical model of a dfim supplied by two fivelevel svpwm inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. Slidingmode control, fuzzy logic control, slidingmode fuzzy logic control, sliding surface. A novel fuzzy slidingmode control for discretetime uncertain. Introduction it is a well known fact that the advanced highperformance robots designed to perform complex tasks, maneuver very quickly and accurately under payload. A novel fuzzy slidingmode control for discretetime. Fuzzy sliding mode controller design for semiactive seat.
In this paper we compare using matlab tools simulink, two different mpp tracking methods, which are, fuzzy logic control fl and sliding mode control smc. Fuzzy logic based in optimization methods and control systems and its applications. Fuzzy logic control of switched reluctance motor drives. Maximum power point tracking algorithm based on sliding. Adaptive fuzzy sliding mode controller for grid interface. Sliding mode observer based robust fault detection and. Of central interest are the stability, performance, and robustness of the resulting closed loop system. The fuzzy logic control is further added to overcome sliding mode controller chattering problem. Continually in view of the fact that digital technology entered in the operating theatre ot, surgery has moved out through one of the big revolutions in medical field. Electronics free fulltext control method for phaseshift. The first part consists of two stateoftheart tutorials on fuzzy control and fuzzy modeling. The main function of the first one is to extract the maximum wind power through controlling the rotational speed of the pmsg, for this a maximum power point tracking algorithm based on fuzzy logic control and a secondorder sliding mode control sosmc theory is designed.
By mohammad masoud namazi, hamid reza koofigar and jinwoo ahn. A fuzzysliding mode controller, which is designed by the techniques of the fuzzy. Pdf adaptive sliding mode control for takagisugeno fuzzy. Pinto, in power electronics handbook fourth edition, 2018. Generally, the proposed controller accepts both the output of the plant yp and the. This paper presents a closedloop vector control structure based on adaptive fuzzy logic sliding mode controller flsmc for a gridconnected wave energy conversion system wecs driven selfexcited induction generator seig. Design chatteringfree performancebased fuzzy sliding. By the design of an intelligent sliding mode controller using fuzzy logic, a robust control method for controlling nonlinear. In 15, position and attitude control of spacecraft by sliding mode control is explained too, but it. It is possible to solve this problem by combining fuzzy. A sliding mode controller with simple fuzzy logic is then proposed to further strengthen the dynamic performance of the proposed sliding mode controller. The proposed scheme combines the advantages of adaptive control, neuro fuzzy control, and sliding mode.
A fuzzy sliding mode controller, which is designed by the techniques of the fuzzy logic controller and the sliding mode controller or called variable structure control, is proposed in this work. First, a nonchattering slidingmode control is presented. A sliding mode fuzzy controller inherits the interpolation property of fuzzy logic control and robustness property of sliding mode control, thereby making it ideal for time optimal robust control. Another feedback linearization approach is proposed which is fuzzy logic controller flc, which outputs a a framework for aspect based sentiment analysis using fuzzy logic. A firstorder approximate model foam of the flexible spacecraft system is formulated by using hamiltons principles and assumed mode method amm, taking into account the secondorder term of the coupling deformation field. A slidingmode controller with simple fuzzy logic is then proposed to further strengthen the dynamic performance of the proposed slidingmode controller. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. However, the dynamic characteristic of the converter is undesirable, and the converter is not robust to disturbances. In this paper a sliding mode control scheme smc applied to the permanent magnet synchronous motor pmsm speed control is designed and improved. The information which humans use in their everyday lives to base intuitive decisions and apply general rules of thumb can and should be applied to those control. It provides attractive features such as fast dynamic response, insensitivity to variations in plant parameters and external disturbance.
The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions. The proposed controller allows designers to employ switching function as the fuzzy logic control input directly in permanent magnet linear synchronous motor systems. This paper presents a control method for phaseshift fullbridge centertapped psfbct converters using hybrid fuzzy sliding mode controllers smcs. Design and stability analysis of a new slidingmode fuzzy logic. Fuzzy logic controller an overview sciencedirect topics. Robust flux observer system with sliding mode and fuzzy. Pure sliding mode controller and sliding mode fuzzy controller have difficulty in handling unstructured model uncertainties. Fuzzy logic is a very powerful method of reasoning when mathematical models are not available and input data are imprecise. Quasi continuous sliding mode control with fuzzy switching.
This paper presents the dynamic modeling and fuzzy sliding mode control fsmc for a spacecraft with flexible appendages. To eliminate the chattering in sliding mode control, a f. Design of a singleinput fuzzy logic controller and its. Reduced order fuzzy sliding mode control for linear. In 14, an adaptive fuzzy sliding mode control is applied to the attitude stabilization of flexible satellite. In the same manner of thinking, it is important to recall and introduce, from a very clear educational standpoint, a mathematical background for. The proposed control strategy, which combines the second order sliding mode and fuzzy logic, is applied to a 1. In contrast to the previous works, our work combining the finitetime scheme and adaptive interval type2 fuzzy sliding mode control technique, in terms of fo lyapunov method, the effective controller design method is investigated. Some researchers applied fuzzy logic systems to sliding mode control to improve the performance of smc. A new robust control scheme using second order sliding.
Sliding mode control scheme smc applied to the permanent magnet synchronous motor pmsm speed control is designed and improved. Other readers will always be interested in your opinion of the books youve read. We suggest a simple but powerful flc fuzzy logic controller design method using a single fuzzy input variable, which is equivalent to the pseudo sliding mode controller. A fuzzy logic controller flc based on vsc with sliding mode concept is used to control the speed of srm drives. Then, this control method is combined with a singleinputsingleoutput fuzzy logic controller to improve its performance. In its own highly informal, idiosyncractic and yet very effective way, it succeeds in providing the reader with a wealth of information about fuzzy controllers. This paper presents a control strategy for robot manipulators, based on the coupling of the fuzzy logic control with the socalled sliding mode control, smc, approach.
Fuzzy tuning schemes are employed to improve control performance and to reduce chattering in the sliding mode. The motivation for using smc in robotics mainly relies on its appreciable features, such as design simplicity and robustness. Adaptive fuzzy sliding mode control for a 3dof parallel. Robust flux observer system with sliding mode and fuzzy logic. Like the sliding mode of the sliding mode control system, the fuzzy sliding mode control system has a fuzzy sliding mode. Design of an intelligent sliding mode controller using fuzzy. A hybrid of sliding mode control and fuzzy logic control. Learning control, adaptive sliding mode control, fuzzy logic based modeling, robot control, nonlinear uncertain systems. The international federation for information processing book series ifipaict. Fuzzy logic with engineering applications by timothy j ross without a doubt. Introduction to fuzzy sets, fuzzy logic, and fuzzy control systems provides that training by introducing a rigorous and complete fundamental theory of fuzzy sets and fuzzy logic, and then building a practical theory for automatic control of uncertain and illmodeled systems encountered in many engineering applications.
The conventional sliding mode control smc has vast chattering effect on the electromagnetic torque developed by the dfim. Design and implementation of fuzzy sliding mode controller. Sliding mode control is used now in the speed control of electric drive systems. Fuzzylogic control an overview sciencedirect topics.
The controllers consist of a conventional sliding mode controller csmc and a fuzzy sliding mode controller fsmc. Design of adaptive fuzzy sliding mode for nonlinear system. Fuzzy set theoryand its applications, fourth edition. In proposed controller,an equivalentlike fuzzy controller is used to present the equivalent dynamic part of the sliding mode controller. Abstract an adaptive fuzzy sliding mode controller afsmc is proposed in this paper. The principal advantage, of the sliding mode controller is its ability to deal with nonlinearities of control systems and its robustness. Tracking trajectories of a nonholonomic mobile robot using. Singh fuzzy sliding mode control of plate vibrations 73 becomes less dependent on human logic. The parameters of the membership functions in the fuzzy rule base are. In the controller design procedure the state variables of a system are known. The effects of fuzzytuning some of the csmc control parameters on the overall performance of the arm have been investigated in this study. This paper proposed a new fuzzy sliding mode controller that integrates the fuzzy logic control and the sliding mode control method. A novel sliding mode fuzzy control based on svm for electric. Design of an intelligent sliding mode controller using.
This paper examines the problem of observerbased sliding mode control designs for a class of descriptor takagisugeno fuzzy systems with time delay and uncertainties. Applications of fuzzy set theory 9 9 fuzzy logic and approximate reasoning 141 9. The atsea experimental data shows that sliding mode fuzzy control can be successfully applied to auvs, thereby making them another alternative for the robust time optimal control problem. In fuzzy logic, an exact mathematical model is not necessary because linguistic variables are used to define system behavior rapidly 911. The effects of fuzzy tuning some of the csmc control parameters on the overall performance of the arm have been investigated in this study. Sliding mode control and fuzzy sliding mode control for dcdc converters 17 d 0 0 0.
The mathematical model of the simulator is analysed and established on aerodynamics, the perfect control is introduced to the sliding mode control and the fuzzy rule base of the designed fuzzy system is established under the principle of lyapunovs stability theorem. This book has proposed a method more suitable for early detection and isolation of faults,this method is based on acombination between analytical based technique sliding mode observer and knowledge based technique fuzzy logic controller. There are several fuzzy based sliding mode controllers. Control surface of the fuzzy logic controller smc for dtc of induction motor a smc with a variable structure controlvsc is an adaptive control technique that gives robust performance of a drive with parameter variation and load torque disturbances. Performance comparison of pi, sliding mode and fuzzy logic. Fuzzy slidingmode control of active suspensions ieee. Abstract this paper represents a direct torque controlled dtc induction motor im drive that utilizes feedback linearization and slidingmode control smc. The idea behind this control scheme is to utilize a time varying slope in the sliding surface function using a simple single inputsingle output fuzzy logic inference system so that the sliding surface is rotated in such a direction that the tracking performance of the. Furthermore, the fuzzy logic control rule is independent of the number of system state variables. The ho has provided online estimates of the rotor position and speed for a wide speed range using the current sliding mode observer csmo and flux linkage sliding mode observer fsmo. This paper attempts to improve the robustness and rapidity of a microgyroscope sensor by presenting a doubleloop recurrent fuzzy neural network based on a nonsingular terminal sliding mode controller.
Fuzzy neural networks for real time control applications. Fuzzy sliding mode controller for a flexible singlelink. The hovering control of a helicopter simulator is studied with fuzzy logic enhanced sliding mode scheme in this paper. The fuzzy sliding mode scheme takes advantage of classical sliding mode control and fuzzy logic, which provides robustness, perfor. Fuzzy logic is a particular area of concentration in the study of artificial intelligence and is based on the value of that information which is neither definitely true nor false. Therefore, the proposed adaptive fuzzy sliding mode controller is. Fuzzy logic controller what is a fuzzy logic controller. Some times the fuzzy logic is used on the equivalent control and the chattering is not removed it can be reduced. Billela m, dib d, azar at 2016 a second order sliding mode and fuzzy logic control to optimal energy management in pmsg wind turbine with battery storage. Fuzzy sliding mode control of a flexible spacecraft with. Design of a sliding mode controller based on fuzzy logic ieee xplore. The general layout of the controller chip in a unity feedback control system is shown in figure 7.
Specifically, based on the detailed discussions on the existence conditions, a reducedorder robust observer is designed first where the influences of the uncertainties are totally removed. In order to clearly present new trends, it is necessary to first give an historical overview of classical sliding mode chapter 1. Comparison of sliding mode fuzzy controller and fuzzy sliding. A novel adaptive sliding mode controller using neuro fuzzy network based on adaptive cooperative particle subswarm optimization acpsso is presented in this article for nonlinear systems control. This technique depends on two well known control methods. A fuzzy logic algorithm is added to mitigate chattering caused by discontinuous term in steady states, and to ensure good performances of the controller in transient states.