Experimental evaluation of a T-S model-based sliding-mode control scheme

Yu Sheng Lu, Bing Xuan Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the experimental evaluation of a fuzzy sliding-mode control scheme. The control law consists of three parts: a nominal controller, a sliding-mode disturbance observer (SMDO), and an adaptive fuzzy sliding-mode controller (AFSMC) that is based on a T-S model. The nominal controller is employed to specify the desired closed-loop dynamics whereas the SMDO as well as the AFSMC are designed to compensate for unknown perturbation. Nevertheless, the perturbation can be considered to comprise a modellable part and an unmodelable part, which are to be compensated for by the SMDO and the AFSMC, respectively. Experimental evaluations of the SMDO-AFSMC scheme are conducted by practically applying the scheme to a four-bar linkage system.

Original languageEnglish
Title of host publication2010 IEEE Conference on Cybernetics and Intelligent Systems, CIS 2010
Pages249-254
Number of pages6
DOIs
Publication statusPublished - 2010 Sep 2
Event2010 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2010 - Singapore, Singapore
Duration: 2010 Jun 282010 Jun 30

Publication series

Name2010 IEEE Conference on Cybernetics and Intelligent Systems, CIS 2010

Other

Other2010 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2010
Country/TerritorySingapore
CitySingapore
Period2010/06/282010/06/30

Keywords

  • Disturbance observer
  • Four-bar linkage
  • Fuzzy control
  • Sliding mode

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Information Systems
  • Software

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