2차 슬라이딩 모드를 이용한 불확실성을 갖는 비선형 시스템의 간접적응 퍼지제어

Abstract

본 논문에서는 불확실성을 갖는 비선형 시스템에 대해서, 2차 슬라이딩 모드를 이용한 간접 적응 퍼지 제어기를 제안하였다. In this paper, a second order sliding mode control that combines with a fuzzy adaptation technique is presented for a nonlinear system with unknown dynamics. The chattering effect that is a representative disadvantage of the sliding mode control is avoided by using the second order sliding mode control instead of the first order sliding mode control. The proposed controller is composed of the equivalent control that is approximated by an online adaptation scheme and the hitting control that is used to constrain the states to maintain on the sub-sliding surface and used to guarantee the system robustness. Simulation results are presented to show the effectiveness of the proposed controller.