Fuzzy Moving Surface를 이용한 2축 팬틸트 시스템의 슬라이딩 모드제어

Abstract

Abstract Sliding Mode Control of 2–Link system using Fuzzy Moving Surface

Mun, Jae Yeong Department of Automotive Engineering The Graduate School Hanyang University

In this paper, we design a robust controller for a pan/tilt system using the sliding mode control(SMC). After modeling dynamics of the pan/tilt system, ways to reduce reaching time, phase and chattering using the fuzzy tool are devised. In order to reduce chattering, fuzzy rules are used for automatical tuning the parameters of the sliding mode controller and provides protection about disturbance. As a result, reduced chattering and reaching time realizing global distance with disturbance are shown though simulations.