A new approach to the design of a fuzzy sliding mode controller

✍ Scribed by Chi-Ying Liang; Juhng-Perng Su

• Publisher: Elsevier Science
• Year: 2003
• Tongue: English
• Weight: 344 KB
• Volume: 139
• Category: Article
• ISSN: 0165-0114
• DOI: 10.1016/s0165-0114(02)00480-3

✦ Synopsis

By deÿning a new generalized error transformation as a complement to the conventional sliding variable, we derived a novel stable sliding mode control scheme on which the design of a new two-input, one-output fuzzy sliding mode controller is based. A signiÿcant advantage of this control scheme is its distinct capability of improving the transient behavior of the system during the reaching phase as well as the guaranteed steady-state tracking precision while in the boundary layer. The design procedure was illustrated by a force-adaptive robot e ector acting on various proÿles of surfaces. As demonstrated from simulations, it appears that a comparatively good performance can be reached by the proposed fuzzy controller.