This paper focused on the design and implementation of a sliding mode controller with fuzzy logic tuning for depth control of an autonomous underwater vehicle (AUV). A fuzzy tuning approach to sliding mode control is employed for enhancing the tracking performance as well as reducing reaching time. The sliding surface can rotate or shift in the phase space in such a direction that the tracking ...

In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x,y,z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order n...

Time-varying sliding mode controller(TVSMC) with fuzzy algorithm for an unmanned automatic excavator system is proposed in this paper. Proposed control system is induced from dynamics of 3-link excavator that is boom, arm and bucket. To design the proposed control system, the main structure of controller is based on sliding mode controller(SMC) with time varying sliding surface. In case of TVSM...

Generally, the greatest difficulty encountered when designing a fuzzy sliding mode controller FSMC or an adaptive fuzzy sliding mode controller AFSMC capable of rapidly and efficiently controlling complex and nonlinear systems is how to select the most appropriate initial values for the parameter vector. In this paper, we describe a method of stability analysis for a GA-based reference adaptive...

Abstract The boundary layer approach is the most popular method to reduce the chattering phenomenon in sliding mode control (SMC) for uncertain nonlinear systems. This paper applies the fuzzy sliding mode structure based on the boundary layer theory which is used as speed controller of an indirect field-oriented control (IFOC) of an induction motor (IM) drive. A fuzzy inference system is assign...

A novel sliding mode controller based on Takagi-Sugeno fuzzy model is designed for a class of nonlinear systems to tackle the nonlinear control problems with modelling uncertainties, time varying parameter fluctuations and external disturbances. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller desig...

. Abstract: This paper presents a Fuzzy sliding mode controller (FSMC) used as a control technique for a Single phase AC/DC boost PFC converter for achieving high power factor and regulated voltage. The controller possesses the merits of both fuzzy controller and variable structure controller. The considered controller has advantages such as robustness when there is a large line and load variat...

In this paper, an indirect adaptive fuzzy sliding mode control scheme is designed for hybrid electric bus. The trajectory tracking control for stopping the bus in a bus station is proposed. The control strategies of regenerative braking in the hybrid electric bus add the control difficulty of the longitudinal braking system. Its nonlinearities are estimated by adaptive fuzzy method and projecti...

This paper presents a fuzzy controller to solve a master-slave chaos synchronization problem. At first, the method of traditional sliding mode control is considered, which utilizes the discontinuous sign function to make the system state reaching a sliding surface. Next, fuzzy rules are determined according to the Lyapunov theorem, and the fuzzy controller is designed for chaos synchronization....

this paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. the uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. the contribution of this paper is presenting a stability analysis for neuro-fuzzy speed control of inducti...