An optimal and intelligent control strategy for a class of nonlinear systems: adaptive fuzzy sliding mode

In this paper, an optimal adaptive fuzzy sliding mode controller is presented for a class of nonlinear systems. In the proposed control, in the beginning, the boundaries of parametric uncertainties, disturbances and un-modeled dynamics are reduced using a feedback linearization approach. Next, in order to overcome the remaining uncertainties, a sliding mode controller is designed. Mathematical proof shows that the closed-loop system with the proposed control is globally asymptotically stable. Using sliding mode control causes the undesirable chattering phenomenon to occur in the control input. Next, in order to remove the undesirable chattering phenomenon, an adaptive fuzzy approximator is designed to approximate the maximum boundary of the remaining uncertainties. Another mathematical proof shows that the closed-loop system with the proposed control is globally asymptotically stable in the presence of structured and unstructured uncertainties, and external disturbances. Finally, the self-adaptive modified bat algorithm is used to determine the coefficients of the adaptive fuzzy sliding mode control and the coefficients of the membership functions of the adaptive fuzzy approximator. To investigate the performance of the proposed controller, an inverted pendulum system is used as a case study. Simulation results verify the desirable performance of the optimal adaptive fuzzy sliding mode control.

[1]  Mohammad Reza Khalghani,et al.  Determination of Optimum Hysteresis Bandwidth to Improve Electric Machines Operation , 2013 .

[2]  M. Khooban,et al.  An optimal type II fuzzy sliding mode control design for a class of nonlinear systems , 2013, Nonlinear Dynamics.

[3]  Mohammad Reza Soltanpour,et al.  Neural Network Sliding-Mode-PID Controller Design for Electrically Driven Robot Manipulators , 2010 .

[4]  G. Bartolini,et al.  Asymptotic linearization of uncertain nonlinear systems by means of continuous control , 1993 .

[5]  Karl Johan Åström,et al.  Adaptive Control , 1989, Embedded Digital Control with Microcontrollers.

[6]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[7]  Naif B. Almutairi,et al.  Sliding Mode Control of a Three-dimensional Overhead Crane , 2009 .

[8]  Mohammad Hassan Khooban,et al.  Swarm optimization tuned fuzzy sliding mode control design for a class of nonlinear systems in presence of uncertainties , 2013, J. Intell. Fuzzy Syst..

[9]  H. Temeltas.  A fuzzy adaptation technique for sliding mode controllers , 1998, IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98 (Cat. No.98TH8357).

[10]  Taher Niknam,et al.  Fuzzy sliding mode control scheme for a class of non-linear uncertain chaotic systems , 2013 .

[11]  Mohammad Reza Soltanpour,et al.  Robust Neural Network Control of Electrically Driven Robot Manipulator Using Backstepping Approach , 2009 .

[12]  Mohammad Mehdi Fateh,et al.  Robust control of flexible-joint robots using voltage control strategy , 2012 .

[13]  Mohammad Hassan Khooban,et al.  FUZZY SLIDING MODE CONTROL DESIGN FOR A CLASS OF NONLINEAR SYSTEMS WITH STRUCTURED AND UNSTRUCTURED UNCERTAINTIES , 2013 .

[14]  Chiang-Cheng Chiang,et al.  Adaptive fuzzy controller for nonlinear uncertain systems , 1999, Proceedings of the Second International Conference on Intelligent Processing and Manufacturing of Materials. IPMM'99 (Cat. No.99EX296).

[15]  Mohammad Reza Khalghani,et al.  Determination of Optimum Hysteresis Bandwidth to Improve the Operation of Electric Machines , 2013 .

[16]  S. A. Salman,et al.  An Adaptive Fuzzy Sliding Mode Control Scheme for Robotic Systems , 2011 .

[17]  Jun Wang,et al.  Adaptive Fuzzy Wavelet Control for a Class of Uncertain Nonlinear Systems , 2006, 2006 International Conference on Machine Learning and Cybernetics.

[18]  Abdelaziz Hamzaoui,et al.  Direct and Indirect Robust Adaptive Fuzzy Controllers for a Class of Nonlinear Systems , 2006 .

[19]  Mohammad Hassan Khooban,et al.  Design an intelligent proportional-derivative (PD) feedback linearization control for nonholonomic-wheeled mobile robot , 2014, J. Intell. Fuzzy Syst..

[20]  Mohammad Hassan Khooban,et al.  Swarm optimization tuned Mamdani fuzzy controller for diabetes delayed model , 2013 .

[21]  Mohammad Mehdi Fateh,et al.  Sliding Mode Robust Control of Robot Manipulator in the Task Space by Support of Feedback Linearization and BackStepping Control , 2009 .

[22]  Jonathan Becedas,et al.  Sliding mode tracking control of a very lightweight single-link flexible robot robust to payload changes and motor friction , 2012 .

[23]  Mohammad Hassan Khooban,et al.  A particle swarm optimization approach for fuzzy sliding mode control for tracking the robot manipulator , 2013 .

[24]  Hugang Han,et al.  Adaptive fuzzy sliding-mode control for a class of nonlinear systems with uncertainties , 2011, 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011).

[25]  G. Bartolini,et al.  Chattering avoidance by second-order sliding mode control , 1998, IEEE Trans. Autom. Control..

[26]  Mohammad Reza Soltanpour,et al.  Robust Backstepping Control of Robot Manipulator in Task Space with Uncertainties in Kinematics and Dynamics , 2009 .

[27]  Mohammad Mehdi Fateh,et al.  Nonlinear control of electrical flexible-joint robots , 2012 .

[28]  Mohammad Reza Soltanpour,et al.  ROBUST NONLINEAR CONTROL OF ROBOT MANIPULATOR WITH UNCERTAINTIES IN KINEMATICS , DYNAMICS AND ACTUATOR MODELS , 2012 .

[29]  Taher Niknam,et al.  Distribution feeder reconfiguration considering fuel cell/wind/photovoltaic power plants , 2012 .

[30]  Mohammad Hassan Khooban,et al.  Teaching-learning-based optimal interval type-2 fuzzy PID controller design: a nonholonomic wheeled mobile robots , 2013, Robotica.

[31]  Mohammad Hassan Khooban,et al.  Control of a class of non-linear uncertain chaotic systems via an optimal Type-2 fuzzy proportional integral derivative controller , 2013 .

[32]  Mohammad Hassan Khooban,et al.  Optimal Intelligent Control for HVAC Systems , 2012 .

[33]  Abdelaziz Hamzaoui,et al.  Adaptive Type-2 Fuzzy Sliding Mode Controller for SISO Nonlinear Systems Subject to Actuator Faults , 2013, Int. J. Autom. Comput..

[34]  Zoubir Ahmed-Foitih,et al.  A self-tuning fuzzy inference sliding mode control scheme for a class of nonlinear systems , 2012 .