Fuzzy Adaptive Sliding Mode Control of Large Erecting Mechanism
نویسندگان
چکیده
Since the large erecting mechanism has nonlinearities, parameter uncertainties and external disturbance, it is difficult to realize a model-based sliding mode control design. So a fuzzy adaptive sliding mode control scheme which combined fuzzy control with sliding mode control is proposed to achieve nonlinear control of the erecting mechanism. This control scheme is mainly use the fuzzy system to approximate the equivalent control of the sliding mode controller without knowing the system dynamic model. And it also releases the trial-and-error work of establishing the fuzzy inference rules. The update laws for the fuzzy tuning parameters and the switch control parameter are derived based on the Lyapunov stability analysis. The simulation results show that compared to the PID control and conventional sliding mode control, the fuzzy adaptive sliding mode control has nicer robustness and more accurate tracking ability, and the stability of the erecting process has improved.
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