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Type-2 fuzzy sliding mode control without reaching phase for nonlinear system

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Title: Type-2 fuzzy sliding mode control without reaching phase for nonlinear system
Authors: Al-khazraji, Ayman ayman.alkhazraji@yahoo.fr, Essounbouli, Najib1 najib.essounbouli@univ-reims.fr, Hamzaoui, Abdelaziz1 abdelaziz.hamzaoui@univ-reims.fr, Nollet, Frédéric1 frederic.nollet@univ-reims.fr, Zaytoon, Janan1 janan.zaytoon@univ-reims.fr
Source: Engineering Applications of Artificial Intelligence. Feb2011, Vol. 24 Issue 1, p23-38. 16p.
Subjects: Sliding mode control, Nonlinear systems, Algorithms, Perturbation theory, Robust control, Fuzzy systems
Abstract: Abstract: A new sliding mode control (SMC) algorithm for the nth order nonlinear system suffering from parameters uncertainty and subjected to an external perturbation is proposed. The algorithm employs a time-varying switching plane. At the initial time t=t 0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves to the origin of the state space. Since the nonlinear system is sensible to the perturbations and uncertainties during the reaching phase, the elimination of such phase yields in a considerable amelioration of system robustness. Switching plane is chosen such that: (1) the reaching phase is eliminated, (2) the nonlinear system is insensitive to the external disturbance and the model uncertainty from the initial time (3) the convergence of the tracking error to zero. Furthermore, a Type-2 fuzzy system is used to approximate system dynamics (assumed to be unknown) and to construct the equivalent controller such that: (1) all signals of closed-loop system are uniformly ultimately bounded, (2) the problems related to adaptive fuzzy controllers like singularity and constraints on the control gain are resolved. To ensure the robustness of the overall closed-loop system, analytical demonstration using Lyapunov theorem is considered. Finally, a robot manipulator is considered as a real time system in order to confirm the efficiency of the proposed approach. The experimentation is done for both regulation and tracking control problems. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:Abstract: A new sliding mode control (SMC) algorithm for the nth order nonlinear system suffering from parameters uncertainty and subjected to an external perturbation is proposed. The algorithm employs a time-varying switching plane. At the initial time t=t 0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves to the origin of the state space. Since the nonlinear system is sensible to the perturbations and uncertainties during the reaching phase, the elimination of such phase yields in a considerable amelioration of system robustness. Switching plane is chosen such that: (1) the reaching phase is eliminated, (2) the nonlinear system is insensitive to the external disturbance and the model uncertainty from the initial time (3) the convergence of the tracking error to zero. Furthermore, a Type-2 fuzzy system is used to approximate system dynamics (assumed to be unknown) and to construct the equivalent controller such that: (1) all signals of closed-loop system are uniformly ultimately bounded, (2) the problems related to adaptive fuzzy controllers like singularity and constraints on the control gain are resolved. To ensure the robustness of the overall closed-loop system, analytical demonstration using Lyapunov theorem is considered. Finally, a robot manipulator is considered as a real time system in order to confirm the efficiency of the proposed approach. The experimentation is done for both regulation and tracking control problems. [ABSTRACT FROM AUTHOR]
ISSN:09521976
DOI:10.1016/j.engappai.2010.09.009