Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Design of Sliding Model Controller with Perturbation Estimator Using Observer-Based Fuzzy Adaptive Network

  • Park, Min-Kyu (Graduate school of Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Go, Seok-Jo (Department of Machine System, Dongeui Institute of Technology)
  • Published : 2001.06.01
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Abstract

To improve control performance of a non-linear system, many other reserches have used the sliding model control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However, this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network. The perturbation estimator based on the fuzzy adaptive network generates the control input of compensating unmodeled dynamics terms and disturbance. And the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluation control performance of the proposed approach, tracking control simulation is carried is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

Keywords

References

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