DESIGN OF ADAPTIVE FUZZY INTEGRAL SLIDING MODE CONTROLLER WITH STATE OBSERVER

• Main Authors: Tzu-Hsuan Li, 李姿璇
• Other Authors: Chung-Chun Kung
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/41247886980293662114

碩士 === 大同大學 === 電機工程學系(所) === 92 === In this thesis, an observer-based adaptive fuzzy integral sliding mode control (AFISMC) scheme is proposed for a certain class of unknown nonlinear dynamical system. This scheme is composed of two types of controllers. One is sliding mode controller, which gives robust stability for system in the presence of parameter variations, uncertainties, and disturbances. The other is an integral controller, which can eliminate steady-state error. A procedure is developed for determining the coefficients of the switching plane and the integral control gain such that the overall closed-loop system has the desired eigenvalues. In addition, an observer is employed for state estimation, so that the state variables need not be measured. By using an observer-based output feedback control law and adaptive law, the parameters of the adaptive fuzzy integral sliding mode controller can be tuned based on the Lyapunov stability analyzes. We apply the adaptive fuzzy sliding controller to control an inverted pendulum system and a Duffing forced oscillation system, the simulation results demonstrate the applicability of the proposed method.