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Dissertations / Theses on the topic 'Fuzzy sliding'
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1
Qiao, Feng. "Fuzzy sliding mode control of complex dynamic systems and its applications." Thesis, University of the West of England, Bristol, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.418220.
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Su, Jui-Yiao, and 蘇瑞堯. "Fuzzy Sliding Mode Controller Design with Fuzzy Sliding Mode Observer." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/53082941533057208869.
Full textAbstract:
碩士<br>大同工學院<br>電機工程研究所<br>87<br>This thesis addresses the design of the decoupled fuzzy sliding mode controller and the fuzzy sliding mode observer on the basis of the Takagi-Sugeno’s (T-S) fuzzy model. A large class of fourth-order system such as a cart-pole system could be controlled in both the pole-hyperplane and the cart-hyperplane simultaneously without increasing the number of fuzzy rules.
The main ideas of this thesis are as follows:
1. The fuzzification of the sliding surface improves the high frequency switching (chattering phenomena) near the sliding surface and has better performance.
2. The concept of decoupling the system makes the simultaneously control of two distinguish targets possible.
3. With the same fuzzy sliding mode theory, a reduced order estimator can well estimate the true states of the complex system.
The numerical simulation of the car-pole system confirms the validity of the proposed approaches.
3
Jiun-Fei, Shiu. "fuzzy sliding-mode control." 1998. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611313631.
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Jiun-Fei, Shiu, and 許駿飛. "fuzzy sliding-mode control." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/20770297998362157818.
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碩士<br>元智大學<br>電機與資訊工程研究所<br>87<br>Fuzzy logic controller is very suitable for multi-input multi-output (MIMO) nonlinear systems with controller which is complex and not easy realized by the classical design method.
Several fuzzy sliding-mode control laws are proposed in this thesis. The fuzzy logic method is applied to reduce the chattering control signal in conventional sliding-mode controller. The problems in PI- or PD-type fuzzy logic controllers: (1) the stability on FLC; (2) the huge number of fuzzy rules, are solved. The proposed fuzzy sliding-mode controller design methods are applied to three practical systems; the pendulum systems, the robotic systems and the flight control systems. Simulation results demonstrate that the system performance is improved sufficiently and the stability and robustness properties are also possessed.
Finally, the adaptive technique is added to fuzzy sliding-mode control to improve the system response by changing the sliding surface.
5
LIN, SINN-CHENG, and 林信成. "Fuzzy-sliding mode controller design." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/98650890582325925673.
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Zheng, Da-Xin, and 鄭達新. "Adaptive fuzzy sliding mode control." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/29633408501579642918.
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碩士<br>國立中央大學<br>機械工程學系<br>85<br>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.
7
Chen, Jian-Xuan, and 陳建軒. "Sliding Mode Fuzzy CMAC Controller Design." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/99753805254934632068.
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碩士<br>中華技術學院<br>電子工程研究所碩士班<br>94<br>In this thesis, a sliding mode controller which integrates the fuzzy system with the Cerebellar Model Arithmetic Controller (CMAC) is proposed to solve the tracking problem of a class of nonlinear systems. The control law of the proposed sliding mode fuzzy CMAC is used to approximate an ideal control of sliding mode controller for model-free systems. In addition to a compensated controller is designed to assure the system stability. Both control laws are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed-loop system. Finally, three nonlinear systems, an oscillation system, an inverted pendulum system, and a van-der-pol system are respectively utilized to show the satisfactory performances of the proposed control scheme.
8
王聖昌. "Grey fuzzy sliding mode controller design." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/41312258607545822029.
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Huang, Chih-Wei, and 黃志煒. "Fuzzy Sliding Control of Nonlinear System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/66954756727514041413.
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碩士<br>元智大學<br>電機工程學系<br>90<br>The main purpose of this thesis is to control the nonlinear time-varying system of two-link robotic manipulator. In process of design, we simplify the dynamical equation of the system and design the control law using the sliding mode control. Then we use the theory of Lyapunov function to prove the stability of control system. The degree of the complexity of the control relates to a lot of time and memory on implementation. In order to save time and memory, we use the fuzzy control theory to calculate the approximate value of the control input. Then we develop sliding mode control method for control system. Related simulations are attached to prove the validity and the performance of the scheme.
10
Chen, Ti-Hung, and 陳帝宏. "FUZZY SLIDING MODE CONTROLLER DESIGN BASED ON FUZZY UNION REASONING." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/93303870249014571153.
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碩士<br>大同工學院<br>電機工程研究所<br>87<br>Recently, fuzzy logic controllers have been applied in many fields, many of which cannot easily be modeled in mathematical processes. Besides, the control action is based on the linguistic control rules, so fuzzy logic controllers are fit for human’s thought. However, there are some drawbacks need to be solved. Firstly, it lacks a systematic and efficient algorithm to design fuzzy logic controllers. Secondly, for a complex plant, the fuzzy rule base become very complicated and the number of fuzzy rules increases exponentially as many as the number of input variables increases linearly. Thirdly, it is so time-consuming to find an optimal fuzzy logic controllers.
In this thesis, to overcome the mentioned drawbacks, a fuzzy union reasoning based fuzzy sliding mode controller is presented.
In the process of designing the suggested controller, we firstly employ the sliding mode control technique to design the fuzzy rules, so that the fuzzy controller has the characteristics of stability and robustness. Next, we adopt the fuzzy union reasoning to construct the fuzzy control rules and to obtain the fuzzy controller. The fuzzy control rule base of the controller is composed of a series single-input-single-output relations coupled by union. So that, while the additional inputs to the controller, the total number of rules would only increase linearly. Finally, the elitist genetic algorithm is applied to search the optimal fuzzy logic controller.
The simulation results demonstrate that this algorithm is an effective systematic formulation to design fuzzy logic controllers. Moreover, the suggested method can control plants with fewer fuzzy rules and being able to efficiently reduce the number of fuzzy rules. It also has the property of robustness to certain parameter variations and external disturbance.
11
Liau, Shu-Min, and 廖淑敏. "ADAPTIVE DYNAMICAL FUZZY SLIDING SLIDING MODE CONTROLLER DESIGN FOR UNCERTAIN NONLINEAR SYSTEMS." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/00193723151006649452.
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碩士<br>大同大學<br>電機工程研究所<br>91<br>In this thesis, in order to alleviate the control chattering, a robust dynamical sliding mode control strategy for uncertain nonlinear systems is proposed. Firstly, based on conventional sliding mode control theory, we present design procedure of the dynamical sliding mode controller. Secondly, we apply the controller incorporated into the adaptive fuzzy control scheme so that the derived controller is robust with respect to unmodeled dynamics, disturbances and approximate errors. Therefore, a adaptive fuzzy dynamical sliding mode controller for uncertain nonlinear systems is proposed to attenuate not only the effects caused by unmodeled dynamics, disturbances and approximate errors but also the chattering of the controller. Thirdly, we also apply the adaptive fuzzy dynamical sliding mode controller for the system of which states are not available. We design the observer to the estimate the tracking error and apply proposed controller to guarantee the stability of the system. The control chattering for this complex system is still reduced.
Finally, we apply the adaptive fuzzy dynamical sliding mode controller to control the Duffing forced oscillation system and computer simulations show the control chattering is reduced explicitly and the robust performance. The simulation results demonstrate and conform the theoretical results.
12
Hsu, Hung-Sheng, and 許宏盛. "Design of the Fuzzy Sliding Compensate Controller." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/97596935748503927879.
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碩士<br>中華技術學院<br>電子工程研究所碩士班<br>93<br>In order to increase the ability of the fuzzy controller, the controller system added a compensate control to better the control system of completeness. The main control action is still the fuzzy controller. The fuzzy controls basing on human heuristic and learning algorithms. Although the fuzzy control has well performers, but it can not powerful in controlling nonlinear system with bounded unknown disturbances. Under the condition that system unable stabile of the nonlinear system in the main structure, one method to ensure stabile is added a compensate controller. We added the compensate controller, so the original controller included a compensate controller. By way of the control to complement each other of the controllers, the system will controlled better in this stable condition.
This paper proposes a fuzzy logic controller which combines a compensate controller. The compensate controller constitute by the disparity of between fuzzy control and sliding mode control. Perfect efficacy of fuzzy controller to combine robust of inherent in sliding mode controller, it’s to make up an appropriate of controller for the nonlinear system. Sliding mode controller likes a teacher to correct output of sliding mode controller. When output control of fuzzy controller didn’t satisfy sliding condition, output of control will replace by total amount that output of fuzzy controller and sliding mode controller. The compensation for output of sliding mode controller constitutes by difference of output of fuzzy controller and sliding condition. Therefore, when we added the sliding compensate controller, the output control of fuzzy sliding mode compensate controller will been satisfied the request of sliding condition. We can see that the well performance and robustness of this kind of fuzzy controller with compensate controller.
13
Yu, Fang-Ming, and 尤芳銘. "Practical Fuzzy Sliding Mode Controller for NonlinearSystems." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/66086565169678871948.
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博士<br>國立中央大學<br>電機工程研究所<br>91<br>A practical fuzzy sliding mode controller for uncertain time-delay with nonlinear
input systems and for a class of nonlinear systems is presented. The controller design
deals with the problems of the dimensionality of fuzzy input variables in fuzzy logic
control (FLC) and the chattering phenomena in sliding mode control (SMC)
effectively. The main results of the proposed method are as follows.
1. We propose two methods to reduce the number of fuzzy input variables. First,
without affecting the performance of the system, the proposed single-fuzzy- input
quasi fuzzy sliding mode controller (SQ-FSMC) by way of a composite state
function reduces the number of rules greatly. Second ly, the design of decoupled
single-fuzzy- input fuzzy sliding mode controller (SFI-FSMC) for the fourth-order
coupled systems shows a better performance than previous work.
2. For the chattering problem of the SMC, this phenomenon can be reduced
effectively with the proposed controller by adjusting the control input near the
sliding hyperplane.
3. A self-tuning single-fuzzy-input controller (ST-SFIC) can be easily applied to
uncertain time-delay dynamical systems with nonlinear input. The self-tuning
scheme dramatically improves the control input behavior. Also, the chattering
phenomenon is eliminated effectively. The control algorithm is convenient and
easy to utilize.
The above methods have been illustrated by the simulation results of the pole and the
cart systems as well as the ball and beam systems. In addition, the uncertain
time-delay with a nonlinear input system can be stabilized to the equilibrium. The
experimental results of the present seesaw system with external disturbance are given.
14
Chao, Wen Chinq, and 趙文慶. "Design of a Fuzzy Sliding-Mode Controller." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/28242288906408477844.
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Shen, Han-Xian, and 沈漢賢. "Adaptive dynamic fuzzy sliding-mode controller design." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/27641849748817455012.
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碩士<br>中華大學<br>電機工程學系(所)<br>98<br>Abstract
The controller design for a complicate system is a difficult design, because the dynamic equation of a plant is often unknown. In order to solve the above problems, we study several intelligent methods based on the fuzzy control, the dynamic sliding-mode control and the adaptive control laws. The system stability is ensured by the Lyapunov stability theorem. Particularly, the dynamic fuzzy sliding-mode can reduce the number of rules and inhibit the undesired chattering phenomenon. Then, in order to increase the convergence rate of tracking error and controller parameters, a PI type learning scheme is implemented in the adaptive laws. Moreover, a PI type compensator with boundary switching capacity in the adaptive fuzzy controller is proposed to remove the chattering phenomena and to guarantee the system stable. However, since the selection of its boundary is sensitive to performance, a new compensator without the switching boundary has been developed. Finally, the intelligent control algorithms, which combine fuzzy control, dynamic sliding-mode, adaptive control laws, PI type compensator, and PI type learning, are applied to a chaotic system and a DC motor, respectively. From the simulation and experimental results, they show the developed PI type adaptive fuzzy (sliding-mode) control with new compensator can achieve the better control performance than the others.
16
Chen, Feng-Sang, and 陳鳳珊. "Design of Fuzzy Sliding Mode Controller with Adaptive Fuzzy Rule Insertion." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/51537681044861339600.
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碩士<br>大同大學<br>電機工程研究所<br>88<br>In this thesis, efficient fuzzy rules of an adaptive fuzzy sliding mode controller (FSMC) are developed systematically according to the performance of the controller. The input variables of conventional FSMC are mostly two fuzzy inputs regardless of the complexity of controlled plants. We propose a new simple FSMC called distance-based FSMC (D-FSMC) by using a single fuzzy input variable called the signed distance, which is the distance from the actual state to the sliding line in the -S plane. Hence, the number of fuzzy rules is greatly reduced compared to the case of the conventional FSMC with two fuzzy inputs. The stability of the fuzzy control system is guaranteed using the Lyapunov stability.
We provide learning algorithms to design fuzzy rules of D-FSMC from basic two rules to three rules and upward for performance improvement. The new rules we insert into the rule-base structure are initialized with the knowledge of the redundant fuzzy rules. And the parameters of the membership functions of the fuzzy rules are trained on—line to minimize the cost functions. Thus, the D-FSMC can be systematically designed. The performance of D-FSMC is revealed via computer simulations using nonlinear plants.
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Lin, Jang-Hung, and 林建宏. "Fuzzy Sliding Mode Controller Design With Variable Sliding Surface And Adjustable Membership Functions." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/79621800953037122373.
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碩士<br>大同工學院<br>電機工程研究所<br>87<br>In this thesis, a simple design method is applied to regulate the membership functions of fuzzy sliding mode controller for the control of second order system. On the other hand, we will apply a variable sliding surface to design the fuzzy sliding mode controller, instead of the fixed sliding surface, which has the robustness against parameter variations and extraneous disturbances.
At first, a kind of experimental design method, called Taguchi’s method, is introduced. We can give each design factor of the membership functions three values and then find out the best combination of the values of all design factors that can come out the best performance under these selectable values. Therefore, we can regulate the membership functions by this method. Second, we will change the fixed parameter of sliding surface to time-varying one by Takagi-Sugeno fuzzy algorithm. This design method has better performance than the conventional method (with fixed parameter) in reaching time, and getting better performance even with parameter variation and extraneous disturbance.
Finally, a hydraulic servo system is proposed to simulate. It is simulated by using four different combinations of the membership function values in order to contrast with the performance which simulates using the best combination of the membership function values by our proposed fuzzy sliding mode controller.
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Lin, Ching-Shun, and 林敬舜. "Hybrid Design of Neuro-Fuzzy-Based System and Fuzzy Sliding Mode Control." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/23931236537439558894.
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碩士<br>國立中正大學<br>電機工程學系<br>84<br>In this thesis, a neuro-fuzzy system which is embeded in the
conventional control theory is proposed to tackle physical
learning control problems. The control scheme is composed of two
elements. The first element, the fuzzy sliding mode control
(FSMC) is used to drive the state variables to a specific
switching hyperplane or a desired trajectory. The second one is
based on the fuzzy cerebellar model articulation controller
(FCMAC) and adaptive heuristic critic (AHC). Both are employed
together as a forward compensator to reduce the chattering
effect or cancel the influence of system uncertainties. A
geometrical explanation of how the FCMAC algorithm works is
provided and some refined procedures of the AHC are presented as
well. Simulations on chattering reduction and trajectory control
of a three-link robot are given to illustrate the performance
and applicability of the proposed control scheme.
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Kao, Tung-Yun, and 高同昀. "ADAPTIVE FUZZY SLIDING MODE CONTROL OF NONLINEAR SYSTEM." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/82785174334004024243.
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碩士<br>大同大學<br>電機工程研究所<br>89<br>ABSTRACT
Fuzzy logic controller is often used in the standard of fuzzy sliding mode controllers because Fuzzy Logic Systems (FLS) can be utilized to approximate complex uncertain dynamic nonlinear systems. In this thesis, we use a new simple FSMC called distance-based fuzzy sliding mode controller (D-FSMC) by using a single fuzzy input variable, which is the distance from the actual state to the sliding line in the plane. Hence, the number of fuzzy rules is greatly reduced compared to the case of the conventional FSMC with two fuzzy inputs. The stability of the fuzzy control system is guaranteed using the Lyapunov stability. In addition, an adaptive fuzzy sliding mode control (SMC) scheme that FLS is used to approximate the unknown systems is proposed. In order to reduce the approximation errors between the true nonlinear function and FLS, an adaptive law is presented. Moreover, we provide a weighting factor. It can adjust the plant and control information by weighting factor, that is, if the plant information is more important and reliable than control information, we should choose a larger factor; otherwise, a smaller factor should be chosen.
At last, simulation results show that the proposed controller has the following advantages:
1. It requires only one input variable, signed distance, regardless of the complexity of the controlled plants.
2. The control rule table is constructed on 1-D space.
3. The proposed controller can well control most of the complex systems without known their mathematical model.
4. Less information about the plant and control knowledge are require (if you only known one of the human knowledge). Because the adaptation law can help to learn the dynamics during real-time operation.
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Chen, Jiun-Cheng, and 陳俊丞. "Fuzzy Sliding Mode Controller Design with Adaptation Laws." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/10254334488290496587.
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碩士<br>大同大學<br>電機工程研究所<br>89<br>The variable structure control (VSC) method with sliding mode control (SMC) has been found in many applications. In this thesis, we concern the design of robust control systems using sliding mode control that incorporates a fuzzy tuning technique and a parameter adaptation method. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is designed first. Switching control is then added to guarantee that the state reaches the sliding mode in the present of parameter and disturbance uncertainties. Fuzzy control schemes are used to improve control performance and to reduce the chattering phenomenon in the sliding mode.
The design of sliding mode control is based on a prior knowledge of bounds of uncertainties and external disturbances. However, because of the complexity and unpredictability of the structure of uncertainties and external disturbances, the upper bounds on the norm of the uncertainties and external disturbances may not be easily obtained. For this reason, a methodology by which the boundary values on the uncertainties can be easily obtained is required. A parameter adaptation method offers an appealing tool to solve this problem. We demonstrate that the proposed fuzzy sliding mode controller with adaptation laws is applicable to the model of the physical system, such as an inverted-pendulum system.
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Yun-ChengHuang and 黃永政. "Study on Adaptive Fuzzy Terminal Sliding-Mode Control and Adaptive Terminal Sliding-Function Control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/87159422817603739324.
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Wang, Y. D., and 王奕敦. "Design Fuzzy Sliding Mode Controller Based on the Fuzzy Ant Colony System Algorithm." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/09628816964931785592.
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碩士<br>國立宜蘭大學<br>電機工程學系碩士班<br>97<br>In this paper, a novel fuzzy ant colony system (FACS) with a fuzzy mechanism and a fuzzy probable mechanism is presented for parameter determinations. Based on the fuzzy rules, the transition behavior of ants is simulated. The fuzzy probable mechanism is introduced with fuzzy probable rules to implement the diverse searching. The fuzzy probable rules are proposed to have the fuzziness in the antecedent parts and the probability in the consequent parts. To indicate the effectiveness, the fuzzy ant colony system is applied to find the proper parameters of the fuzzy sliding controllers for swinging and balancing the inverted pendulum and cart system. Also, the comparisons between the proposed fuzzy ant colony system and other ant colony optimization algorithms are provided in the simulations.
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Wei-Liang, Chin. "Adaptive Intelligent Decoupled Fuzzy Sliding-Mode Control System Design." 2004. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611333833.
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Teng, Sheng-Shan, and 鄧聖山. "Design of A Hybrid Sliding Mode Fuzzy PID Controller." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/68075732224045521931.
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碩士<br>輔仁大學<br>電子工程學系<br>93<br>Currently, there are many application types for hybrid controllers, which are
gradually becoming mature and stable. This thesis will investigate the composition and
applications of hybrid controllers. The basic structure is the self-tuning sliding mode
fuzzy controller combined with a PID controller. The combination of the two is through
multiplication and addition, and applied to linear and non-linear systems so that the
controller can achieve robustness of systems. The optimization of the sliding mode
fuzzy controller mentioned in this thesis uses sliding mold control to perform real-time
self-tuning on the dead zone in the fuzzy rule-base. The optimization of the PI
controller is achieved through a genetic algorithm to perform parameter searches.
Finally, we use a DC to DC Buck converter and a car-inverted-pendulum as the
controlled systems, and simulate and compare control performance through simulation
to prove that the control performance of the addition-type hybrid controller on linear
and non-linear systems is superior to the self-tuning sliding mode fuzzy controller .
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Yuan-Mao, Liao, and 廖元懋. "Adaptive Fuzzy Sliding-Mode Controller Design and Its Application." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/49476675093631885369.
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碩士<br>元智大學<br>電機工程研究所<br>89<br>Adaptive Fuzzy Sliding-mode Controller
Design and Its Application
Student：Yuan-Mao LiaoAdvisors：Professor Chih-Min Lin
Institute of Electrical Engineering
Yuan-Ze University
ABSTRACT
For traditional control system design, the mathematical model of the system must be known. For systems which are complex or difficult to model, fuzzy control is an efficient design technique. Fuzzy logic controller is very suitable for multi-input multi-output nonlinear systems with the controller which is complex and is not easy to realize by the classical design method.
An adaptive fuzzy sliding-mode controller design method was proposed in this thesis. The fuzzy logic method is applied to avoid the chattering control signal in conventional sliding-mode controller. The sliding-mode method is applied to reduce the number of fuzzy rules. And the adaptive law is derived to adjust the weightings of fuzzy rules.
The proposed adaptive fuzzy sliding-mode control design method has been applied to a single-input single-output antilock braking system with various road conditions and a multi-input multi-output flight control system with rudder damage case. Simulation results demonstrate that the system performance has been improved sufficiently and the stability and robustness properties are also possessed.
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Zeng, Jin-Feng, and 曾錦豐. "Fuzzy Sliding Mode Controllers with Applications to Seesaw Systems." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/89148747544317089013.
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碩士<br>國立中央大學<br>電機工程研究所<br>90<br>This paper deals with the design of fuzzy control systems by using the approach of sliding mode control. The key idea is to apply the fuzzy sliding mode control in the system to guarantee that the state can reach the user-defined surface in finite time and then it slides into the origin along the surface. The parameters of the membership function of the fuzzy rule base are self-tuning. They will change according to some tuning scheme. The initial fuzzy membership function can be given by human experts, and it is tuned automatically by the tuning scheme so as to eliminate the chattering effect of the system. Next, we will apply the fuzzy sliding mode controller to a nonlinear unstable seesaw (inverted wedge) system. At last, experimental results show the feasibility of the method, and the attenuated chattering is achieved.
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Chin, Wei-Liang, and 秦維良. "Adaptive Intelligent Decoupled Fuzzy Sliding-Mode Control System Design." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/26476359382694789682.
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碩士<br>元智大學<br>電機工程學系<br>93<br>The design methods of the adaptive fuzzy sliding-mode controller are proposed in this thesis. The fuzzy logic method is applied to reduce the chattering control signal in conventional sliding-mode controller and the number of the fuzzy membership function. Also, we derive the adaptive laws and use the Lyapunov function to guarantee the stability of the closeed loop.
The proposed hierarchical fuzzy sliding-mode controller and adaptive fuzzy sliding-mode controller are applied to three practical systems; the aeroelastic systems, the overhead crane systems and the translational oscillator with rotational actuator (TORA) systems which are all single-input-multi-output (SIMO) nonlinear systems.
Simulation results show that the coupling effect of the SIMO system has been solved. Besides, it demonstrates that the system performance is improved sufficiently and stability and robustness properties are also possessed.
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Yu, Chia-wei, and 余佳威. "Fuzzy Sliding Control Applied in a Hybrid Pneumatic System." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/anr233.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>94<br>Abstract
This thesis mainly uses Visual Basic as software developing environment by using the interface card “PCI-1710”. And we apply Sliding Mode Fuzzy Controller (SMFC) to control this 2D hybrid pneumatic system which is combined with servo pneumatic actuator and servo pneumatic motor. PCI-1710 not only can control the system accurately, but also monitor the position of this system to prevent the damage due to the user’s improper operation. It can also make the proper adjustment for various demands.
There are two sets of experiments in this thesis, including position control and trajectory control. For position control experiments, we will discuss the individual component’s position control performances. For trajectory control experiments, we will discuss the tracking performance of ramp and sinusoidal commands in this 2D hybrid pneumatic system. Then, we can find out system’s responses of SMFC is better than Fuzzy control.
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Pan, Wei-Chun, and 潘為竣. "Adaptive Fuzzy Sliding-Mode Control with Modulated Membership Functions." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/n7utu6.
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碩士<br>國立臺北科技大學<br>電機工程系研究所<br>98<br>Fuzzy sliding-mode control integrates fuzzy control with sliding-mode control. Since membership functions of fuzzy control deeply influence the quality of control, adaptive fuzzy control is developed. Modulated membership function is a method to reduce computation in adaptive fuzzy control. Sliding-mode control utilizes a sliding surface to make controller structure simpler; however, its robustness induces chattering. The purpose of this thesis is to design an adaptive fuzzy sliding-mode control, with modulated membership function, for an uncertain multi-input multi-output nonlinear system. The task includes obtaining adaptive laws via Lyapunov function and choosing an available sliding surface. The proposed controller not only saves time in controlling process but also minimize chattering by reducing the output value of sliding-mode control at the right time. From simulations and by observation, control objectives are swiftly and effectively achieved.
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Chen, Chih-Chi, and 陳志吉. "Grey fuzzy sliding mode controller design by genetic algorithms." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/14628229007693368115.
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Lum, Muao Jui, and 繆瑞倫. "Adaptive Fuzzy Sliding Mode Control for Ship Motion System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/88765773599179656677.
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碩士<br>中國科技大學<br>資訊科技應用研究所碩士在職專班<br>102<br>This thesis proposed an adaptive fuzzy sliding mode controller design for ship system. The proposed adaptive fuzzy sliding-mode control system is comprised of an adaptive fuzzy controller and a compensation controller. The adaptive fuzzy controller is the main tracking controller, which is used to approximate an ideal controller. The compensation controller is designed to compensate for the difference between the ideal controller and the adaptive fuzzy controller. Based on Lyapunov sense approach, adaptive tuning laws is derived to tune the premise and consequence parts of the fuzzy rules; so that stability of the system can be guaranteed. To illustrate the effectiveness of the proposed design method, a comparison between a conventional fuzzy sliding mode control and the proposed adaptive fuzzy sliding-mode control is made. Simulation and experimental results verify that the proposed adaptive fuzzy sliding mode control design method can achieve favorable control performance with regard to parameter variations and external disturbances.
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Peng-YuChen and 陳鵬宇. "The synthesized design of H∞ fuzzy sliding-mode controller." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/00801177654676711392.
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碩士<br>國立成功大學<br>系統及船舶機電工程學系<br>102<br>Most of nonlinear systems encounter the problems of system parameter variation, plant uncertainties and disturbances, which are likely to cause deterioration of the output response and degrade system performance as well as even result in system instability. For solving this problem, the H_∞ fuzzy sliding-mode controller is proposed in this research. The Fuzzy control term in the proposed composite controller is mainly determined by the sliding surface and its derivative by following the fuzzy control rules listed in the attached table. The sliding-mode control term is constructed in the proposed controller to ensure the system asymptotically stability in the sense of Lyapunov while keeping the system response be well shaped to match the desired specifications by the previous fuzzy control term. Instead of the traditional trial and error process, the control parameters of the designed sliding surfaces in this paper are optimally obtained by solving Algebraic Riccati Equation in formulating the system error equation into the standard H_∞-optimal control problem. Thus, the control gains in this paper are optimally selected to minimize the ill-effect of the exogenous inputs (e.g. disturbance and plant uncertainties) on the controlled output (e.g. tracking error and energy cost). Moreover, to remove the undesirable chattering in the sliding-mode component, the sign function is replaced by the saturation function. Moreover, the un-modeled dynamics remained in the closed-loop system is then checked by the inequality proposed in this paper to guarantee the system absolute stability. Finally this paper uses a submarine with plant uncertainties which is controlled and simulated by the proposed composite controller to track a pre-specified desired path.
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Huang, Liang-chih, and 黃亮智. "Adaptive fuzzy sliding mode controller for nonlinear coupled system." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/99732612796384918588.
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碩士<br>大同大學<br>電機工程學系(所)<br>96<br>This thesis investigates a hierarchical adaptive fuzzy sliding-mode control, and it is proposed for a class of fourth-order nonlinear coupled system can be decoupled into two subsystems, and a sliding surface is defined for each subsystem. The fuzzy models are used to estimate the unknown function of the nonlinear dynamic system. A hierarchical fuzzy sliding model controller is developed for guaranteeing the tracking performance. Then, we propose the adaptive laws to adjust the free parameters of the fuzzy models. The stability of the fourth-order nonlinear system can be verified by Lyapunov stability theorem. Moreover, the proposed overall control schemes guarantee that all the signals are bounded and achieve the desired tracking performance. Finally, the examples are given to illustrate the feasibility and the effectiveness of the proposed control strategy.
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Hwan-Rong, Lin, and 林煥榮. "Fuzzy Control Systems Analysis and Design with Sliding Mode." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/52083156558643341407.
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博士<br>國立中央大學<br>電機工程研究所<br>87<br>Abstract
System''s stability is the most important requirement in control system design. Fuzzy Control System (FCS) should satisfy this requirement also. This thesis shows that a linear plant with Fuzzy Logic Controller (FLC) is a nonlinear system and its stability can be analyzed by applying the Small Gain Theorem or the Circle Criterion. By the above two criteria, three FLC design procedures are introduced to guarantee the stabilization of the FCS.
Next, based on the concept of Sliding Mode Control (SMC), this thesis designs FLC for the prespecified trajectory tracking in the phase plane. The prespecified trajectory is composed of several non-isoclinal segments and is regarded as a piecewise sliding surface. In this approach, two FLCs are synthesized to achieve the hitting motion and preserve the system''s state travelling on the prespecified trajectory.
On the other hand, from the approximation property of fuzzy systems, a uncertain nonlinear plant can be approximated by fuzzy systems, such that FLC is systhesized also to achieve the prespecified trajectory tracking for FCS.
Finally, we summarize the above analysis to be the fuzzy logic control design algorithm and give some examples and a contouring application to illustrate the applicability of these algorithms.
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YANG, TENG-KAI, and 楊登凱. "Adaptive Fuzzy Sliding Mode Control for Mobile Robot Design." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/55435092915645978243.
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碩士<br>建國科技大學<br>自動化工程系暨機電光系統研究所<br>104<br>This paper designs a self-adopted fuzzy sliding made controller. It creates stability control toward robot’s moving angle, and acceleration. It makes a balance control toward two-wheeled vehicle. Moving robot’s unbalanced control was set up a mathematic model of robot system by Euler-Lagrange equation. It combines fuzzy system and sliding made control to design a self-adopted fuzzy sliding made controller. The stability analysis can practice robot moving’s unstable and shaking situation. The experiment proves that applying self-adopted fuzzy sliding made controller can make moving changes smoothly in robot movement. In addition, it can reduce the shaking of machine operation more effectively and increase the control toward moving robots.
Keywords：feedback linearization, self-adopted fuzzy sliding controller,
mobile robot, Euler-Lagrange equation, fuzzy systems
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Tsung-YangLin and 林琮暘. "Design of H∞ ANFIS-Based Fuzzy Sliding Mode Controller." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/31140767950787712257.
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碩士<br>國立成功大學<br>系統及船舶機電工程學系<br>103<br>In practical, most of physical systems are nonlinear, and the feedback linearization method may be utilized to control the system. However, the system uncertainties and disturbances will affect the feasibility of the controller and make the closed-loop system hard to match the desired performance. To solve this problem, in this thesis, the ANFIS-based H_∞ Fuzzy Sliding Mode Controller is derived to form the proposed robust controller and to meet the pre-specified specifications.
The proposed controller is composed of two control components. One component is the feedback-linearization based sliding mode controller, in which the control gains and the observer gains are optimally chosen from the standard H_∞ control problem. The other component is the fuzzy-based controller, whose membership functions are optimally tuned by the Adaptive-Network Based Fuzzy Inference System (ANFIS). With the proposed controller, the system tracking errors will be forced to the sliding surface by the first component. To ensure the achievement of tracking performance and desired specifications, the errors resulted from system uncertainties will be eliminated by the second component. The closed-loop system stability of the proposed controller is proved by the Lyapunov’s stability criterion. The largest allowable scale of uncertainties is then explored by an inequality proposed in this research.
Finally, a robot manipulator with uncertainties is simulated to prove the feasibilities of the proposed composite controller.
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Hu, Mei-Huan, and 胡美奐. "Sliding Mode Self-Organizing Fuzzy Control for Robotic Manipulators." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/03417529579830799975.
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碩士<br>華夏科技大學<br>智慧型機器人研究所<br>105<br>Robot is one of the multiple-input multiple-output (MIMO) systems. The robot has complex and nonlinear dynamics characteristics. It is difficult to design a model-based controller for the control of the robot. Therefore, this study proposed a model-free self-organizing fuzzy controller (SOFC) for the control of robotic systems. The SOFC has learning capability, beginning from zero fuzzy rules during the control process. It solves the problem in finding suitable fuzzy rules and membership functions for the application of fuzzy logic controllers (FLC). Moreover, this study developed a sliding mode self-organizing fuzzy controller (SMSOFC) for the control of robotic systems, in order to enhance the stability of the SOFC. Simulation results demonstrated that the control performance of the SMSOFC is better than that of the SOFC for robotic motion control.
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Liang, Mingwei, and 梁明瑋. "Design of Fuzzy Terminal Sliding Mode Control with Applications." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/79936362862865195689.
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碩士<br>修平科技大學<br>電機工程研究所<br>100<br>In this thesis, the fuzzy terminal sliding mode control (FTSMC) scheme is proposed to apply the synchronization of two chaotic gyros and the sine-wave signal tracking control of the micro-electro-mechanical-system (MEMS) resonator. In the FTSMC scheme, a common fuzzy logic method is introduced to replace the switching function (signum function) to reduce the chattering effect of control input. Besides, according to the characteristics of terminal sliding surface, the controlled systems can be performed the fast convergent responses to achieve the control goal. Sufficient conditions to guarantee the stability of closed-loop system are provided in the sense of the Lyapunov stability theorem. Numerical simulations are also given to demonstrate the effectiveness of the presented scheme.
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Chu, Chao-Ting, and 儲韶廷. "Fuzzy neural sliding mode control in magnetic bearing system." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/32089943947481218308.
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碩士<br>國立雲林科技大學<br>電機工程系碩士班<br>100<br>Bearing plays an important role in the application of industry. In industrialization,
motor and the bearing is the communication bridge between the mechanics. In traditional industry, we can''t overcome the frictions while the bearing rotates. Therefore, it should be exchanged by lubricating oil to decrease the frictions.
In recent years, the magnetic levitation techniques have used in various products.
The most famous is in the maglev-levitated train. The maglev-levitated train floats in the air which can reduce the energy. The magnetic levitation techniques are also used in the traditional bearing which is the magnetic bearning. When the magnetic bearing floats and rotates in the air. Hence, it reduces the friction of traditional bearing, need not use the lubricating oil and has a long life time.
The magnetic bearing can decrease the frictions if it floats in the specific height. In this thesis, the hereditary algorithms of backpropagation neural network, radial basis function neural network, clustering algorithm, immune fuzzy algorithm and sliding mode neural network estimation were proposed to achieve the specific height.
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Chang, Shun-Yung, and 張詠舜. "Implementation of Fuzzy Sliding Mode Controller with Fuzzy Supervisory System for Vector Control System." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/5kcjeb.
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碩士<br>國立臺北科技大學<br>電機工程系所<br>100<br>The purpose of this thesis is to implement a fuzzy sliding mode controller with fuzzy supervisory system (FSFSC). This control structure combines the sliding mode controller and fuzzy controller with different proportions which are calculated by fuzzy supervisory system. The sliding mode controller mostly provides fast dynamic response in transient state, and the fuzzy controller mainly offers the smooth control effort in steady state to decrease the chattering that are caused by a discontinuous control from sliding model controller. Moreover, the resistance estimator is implemented by model reference adaptive system and TSK fuzzy theories. The estimated parameters are fed back to system in order to alleviate the variations of resistances for flux estimator.
Finally, the effectiveness and feasibility of the FSFSC and resistance estimator are demonstrated through experiment of vector-controlled induction motor system. The experimental results show that the tracking performance of FSFSC is better than Fuzzy Controller (FC), and resistance estimator have an ability to estimate the rated value very closely from the mismatch of resistance.
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Wei-Chi, Lai, and 賴偉祺. "DESIGN OF REGION-WISE FUZZY SLIDING MODE CONTROLLER WITH FUZZY TUNER USING GENETIC ALGORITHM." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/50594873131757892027.
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碩士<br>大同工學院<br>電機工程研究所<br>86<br>In this thesis, a fuzzy sliding mode controller with fuzzy tuner is present. We firstly employ the sliding mode technique to design the fuzzy control rules. Secondly, according to the state values of system, the output scaling factoris adjusted by a fuzzy tuner.Then, combine the two input variables as only oneinput variable to decrease the fuzzy control rules. Finally, the genetic algorithm is applied to search the optimal parameters of the controller. The simulation results show that the proposed region-wise fuzzy sliding mode controller with fuzzy tuner using genetic algorithm has the following advantages:(1) The fuzzy rules of the fuzzy controller can be efficiently reduced.(2)The control signal is smooth. (3) The system response is fast and stable,and has the property of robustness.
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Chuang, Feng-Chih, and 莊峰誌. "Fuzzy Control and Fuzzy Sliding Mode Control Design of a Ship-carried Satellite Antenna." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/94633117475153477055.
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碩士<br>中原大學<br>機械工程研究所<br>90<br>This study is intended to build a scale model of a ship-carried satellite antenna and to design fuzzy control and fuzzy sliding mode control schemes to track the aiming angle of the antenna. The scale model of the antenna is designed with two angular degrees of freedom, azimuth and elevation. To accomplish the closed-loop control, two encorders are installed to rotational axes of azimuth and elevation to provide instant feedback signals for the current aiming angle of the antenna. With the scale model designed and fabricated ready, control schemes are next forged. For Fuzzy control design, membership functions are first determined, and followed by if-then rules and defuzzification. For fuzzy sliding mode control design, sliding surface is first determined, and then the standard procedure of fussy control design is followed to synthesize the controller. The responses of the system are expected to first converge to the sliding surface and then to desired states. Numerical simulations are conducted for validating effectiveness of fuzzy controllers designed with various memberships and sliding surfaces. It shows that the designed controllers are able to perform effective tracking for the ship-carried antenna.
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Yang, Hui-Wen, and 楊惠雯. "Adaptive Sliding Fuzzy Control of Robot Manipulator with Flexible Joints." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/61469028304023289615.
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碩士<br>國立中興大學<br>機械工程學系所<br>103<br>This thesis presents an adaptive sliding fuzzy control scheme is used to arms robot with flexible joints. Design the sliding surface for position control. To overcome the problem of uncertain parameters and chattering is caused by sliding control, design the controller which combine sliding control and adaptive fuzzy control, and then the adaptive controller is proposed. Asymptotic stability of the system is ensured via Lyapunov-like lemma. From the computer simulation results, simulation results show that the position of the arm system can be controlled effectively by the proposed control method.
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郭家豪. "Fuzzy Sliding Mode Active Vibration Control for Tram-Train Pantograph." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/38893041555755583998.
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碩士<br>逢甲大學<br>電子工程學系<br>105<br>In this paper, the uncertain dynamic active pantograph-catenary system which considers the effect of different stiffness resulting from the uneven overhead wire is investigated to improve current collection for tram-train. In order to achieve stable current collection, and hence improve the performance of the overall electricity supply, Fuzzy BP algorithm and adaptive fuzzy sliding mode control scheme are proposed. First, sliding mode control (SMC) is introduced to implement the robust of contact force of pantograph-catenary system. Then, the uplift force which is applied to pantograph frame by actuator is constructed by incorporating fuzzy neural network (FNN) and sliding mode control to attenuate the chattering problem resulting from the sliding mode control. Based on the Lyapunov stability theorem, the active control law and adaptive laws for the free parameters of the FNNs can be derived to effectively suppress vibration of the pantograph system. Extensive simulations and comparisons show that the proposed adaptive fuzzy sliding controller not only can preserve the asymptotical stability but also can therefore greatly ameliorate the quality of electricity transfer. Furthermore, the comparative study between Fuzzy BP algorithm and adaptive fuzzy SMC is made.
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Yeh, Cheng-Hsuan, and 葉丞軒. "DESIGN OF ADAPTIVE FUZZY SLIDING MODE CONTROLLER WITH STATE OBSERVER." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/46594759813953754610.
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碩士<br>大同大學<br>電機工程研究所<br>91<br>In this thesis, an observer-based adaptive fuzzy sliding mode controller for a certain class of unknown nonlinear dynamical system is presented. The total states of the nonlinear system are not to be available for measurement; hence a state observer will be designed to estimate the nonlinear system states.
By using an observer-based output feedback control law and adaptive law, the parameters of the adaptive fuzzy sliding mode controller can be tuned based on the Lyapunov stability analyzes. Moreover, we provide a weighting factor, it will be adjusted by the plant knowledge or by the control information, namely, if the plant knowledge is more important and reliable than control information, we should choose a larger factor; otherwise, a smaller factor should be chosen. According to the weighting factor, we can find the control input for the nonlinear system.
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.
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Lin, Shiue-Lung, and 林學龍. "A Tension Control System by Fuzzy Terminal Sliding Mode Controller." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/21299353171775329425.
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碩士<br>國立成功大學<br>航空太空工程學系碩博士班<br>96<br>The tension control system has the advantage of the saving labor power and high efficiency, and is used in industry widely. In the winding process, the web tension and linear velocity must be controlled at the same time to avoid deformation, sag and wrinkle. The goal of this thesis is to derive a complete nonlinear model and to achieve the desired performance by nonlinear control theory. The unwinding roller is controlled by web tension control with switching the fuzzy logic gain while the rewinding roller is by linear velocity control terminal sliding mode control (TSMC). By simulation, sliding mode control (SMC), terminal sliding mode control and fuzzy terminal sliding mode (FTSMC) are compared and FTSMC can achieve the nonlinear control and improve the overshoot and chattering of SMC.
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Chen, Po-Hsun, and 陳柏勳. "Multiple Constrained Sliding Mode Fuzzy Control for Nonlinear Stochastic Systems." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/62640210803649281533.
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碩士<br>國立臺灣海洋大學<br>輪機工程學系<br>102<br>A sliding mode fuzzy controller design problem is investigated in this thesis for nonlinear stochastic systems. In addition to the stability performance, the passivity constraint and individual state variance constraint are simultaneously considered in this thesis. The proposed controller design method is developed by combining sliding control, covariance control and model-based fuzzy control theories. Some sufficient conditions are derived in term of linear matrix inequality forms according to Lyapunov theory. By solving these sufficient conditions via convex optimal programming algorithm, the parallel distributed compensation based sliding mode fuzzy controllers can be obtained. Finally, two numerical examples are given to demonstrate the validity and effectiveness of the proposed sliding mode fuzzy control methodology.
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Chung, Yu-lung, and 鍾瑜隆. "Immune-Fuzzy Sliding Mode Control for a synchronous reluctance motor." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/20235530955831800888.
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碩士<br>國立雲林科技大學<br>電機工程系碩士班<br>99<br>In this thesis, an integral variable structure with immune fuzzy theorem is proposed. speed control strategy of the synchronous reluctance motor (SynRM). Integral variable structure control (IVSC) is used to reject disturbances and parameter variations. We must know the maximal boundary in IVSC. It will influence the stability and efficiency of system if lumped uncertainty smaller than the boundary. In this study, the proposed controller combines IVSC and immune theorem. The nonlinear term of immune theorem is replaced by fuzzy control which is used to pretend a bonding force between the antigen and antibody. Otherwise, disturbance and parameter variations occur in system, immune fuzzy controller can increase the response speed by output feedback to compensate immediately. Finally, the performances of the immune fuzzy sliding mode controller are verified by experiment and simulation. The proposed immune fuzzy sliding mode controller shows the robustness for the motor parameters variation and the external disturbance.
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Zou, Jia-hong, and 鄒家弘. "Fuzzy Sliding-Mode Control of a Two-Link Robot Manipulator." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/50177842109222911594.
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碩士<br>國立雲林科技大學<br>機械工程系碩士班<br>97<br>Robotic manipulators have lots of actuators in each joint, and with nonlinear, coupling, variant parameters as characteristics. Arc and spot welding, spray painting, milling and drilling are some applications of robotic manipulators. For trajectory tracking, a scheme of adaptive fuzzy sliding-mode control is proposed in this thesis to deal with highly nonlinear dynamics of robotic manipulators. By using a simplified model, a nominal controller is obtained by pole placement design to specify ideal closed-loop dynamics. Then, an adaptive fuzzy compensator augmented with a sliding-mode disturbance observer (SDOB) compensates for system uncertainties and external disturbances.
The SDOB ensures well transient performance and compensates well for unknown disturbances. As to the adaptive fuzzy compensator, it is used to model an unknown disturbance by the proposed adaptive law. When disturbance has been well modeled, the control system can efficiently compensate for the disturbance, avoiding the phase-lag problem associated with the SDOB. The proposed control scheme is verified by performing experimental studies on a two-link robotic manipulator tracking a circular trajectory.
In the experimental setup, we utilized TI''s TMS320C6711 DSP with an FPGA (Field-Programmable Gate Array) as our control kernel. Implementing control laws, we employed the C/C++ language as a tool. Moreover, we establish an interface to two shaft encoders, ADCs and DACs using hardware description language (VHDL). The experimental results show that the proposed scheme improves the tracking performance and decreases the tracking error.
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Wang, Chen-Fan, and 王晨帆. "FUZZY SLIDING MODE CONTROL DESIGN FOR TIME-DELAY DESCRIPTOR SYSTEMS." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/13133285844361450490.
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碩士<br>大同大學<br>電機工程學系(所)<br>97<br>In this thesis, we present a fuzzy sliding mode control design method for the fuzzy time-delay descriptor system in the extended general Takagi-Sugeno (T-S) fuzzy model. First, the nonlinear system is represented by an equivalent T-S fuzzy model, such that we can construct a fuzzy descriptor system with an augmented state space matrix. We will design a controller that incorporates a fuzzy controller based on parallel distributed compensation (PDC) and a reaching mode sliding mode controller to restrain the perturbed by output disturbance. And then, design a fuzzy state and disturbance observer such that the reference model tracking performance is achieved. Based on Lyapunov stability theorem to analysis the tracking error stability of the proposed fuzzy state and disturbance observer that can guarantee we can obtain good tracking performance as well model. Finally, we will use numerical examples to illustrate the design approach. The simulation can demonstrate the validity the proposed scheme and achieve satisfy simulation results.