ADAPTIVE SLICING ODE CONTROL USING FUZZY LOGIC SYSTEM

  • Yoo, Byungkook (Department of Electronic Engineering, Chonbuk National Univ.) ;
  • Jeoung, Sacheul (Department of Electronic Engineering, Chonbuk National Univ.) ;
  • Ham, Woonchul (Department of Electronic Engineering, Chonbuk National Univ.)
  • Published : 1995.10.01

Abstract

In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.