강인성과 응답 성능을 고려한 슬라이딩모드 퍼지 제어기 설계에 관한 연구

A New Design Method of Sliding Mode Fuzzy Controller with Robust and fast Performance

This paper proposes a new fuzzy controller using variable structure control theory. In this paper, after the time-varying fuzzy sliding surface is designed, the fuzzy rules are defined based on the variable structure control theory. This design method makes the fuzzy controller design more structured and can guarantee the stability and robustness of the fuzzy controller and overcome the shortcoming of the variable structure system. Through computer simulation and experiment of nonlinear inverted pendulum system, this thesis demonstrate that system has the robustness against disturbance and modelling error, and the tracking performance of it is improved.