비선형 시스템의 적응 퍼지 슬라이딩 모드 제어

Abstract

In this paper, we proposed a decoupled adaptive fuzzy sliding-mode control scheme in designing the SMC of a class of fourth-order nonlinear systems. These systems are decoupled the whole system into two second-order systems such that each subsystem has a separate control target expressed in terms of a sliding surface. Then, information from the secondary target conditions the main target, which, in turn, generates a control action to make both subsystem move toward their sliding surface, respectively, and Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target. The membership functions of the THEN -part, which is used to construct a suitable equivalent control of SMC. are changed according to adaptive law. Under this design scheme, we not only maintain the distribution of membership functions over state space but also reduce considerably computing time, we apply the decoupled adaptive sliding-mode control to control a nonlinear inverted pendulum system and confirms the validity of the proposed approach.