| Summary: | 碩士 === 國立中央大學 === 機械工程學系 === 85 === A decoupled adaptive fuzzy sliding mode controller (DAFSMC) is
proposed in this paper. The motivation behind this is to
incorporate the best features of self-tuning fuzzy control and
sliding-mode control with decoupled method to control an
unstable 4-th order inverted pendulum system. The consequent
parameters of the membership functions in the fuzzy rule base
are tuned according to some adaptive algorithm so as to control
the states of two subsystems, decoupled from the 4-th order
system, to hit each user-defined sliding surface and then slide
along it continuously. The initial IF-THEN rules in the DAFSMC
can be randomly selected or roughly given by human experts, and
then automatically tuned by a direct adaptive law, therefore,
reducing the expertise dependency in the design procedure of
fuzzy logic control. By applying the DAFSMC to control a
nonlinear unstable inverted pendulum system, the simulation
results show that the expected approximation sliding property
was occurred, and the dynamic behavior of control system can be
determined by the sliding surface. Finally, adaptive fuzzy
sliding mode control is applied to control a 6-th order
nonlinear system and confirms the validity of the proposed
approach.
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