Design and Implementation of Fuzzy Sliding-Mode Controller for a Wedge Balancing System

In this paper, we address the design and implementation of fuzzy sliding-mode controller for balancing a wedge system. At first, we examine the mathematical model of the wedge balancing system. The dynamic system is complex and ill defined; hence we propose the fuzzy sliding-mode control (FSMC) method to achieve the control objective. The proposed control method enhances the ability of fuzzy logic control so that the minimal number of fuzzy inference rules is systematically obtained even the plant parameters are unknown. Both computer simulations and real-time experiments are exploited to demonstrate the validity and feasibility of the developed control scheme.

[1]  Sinn-Cheng Lin,et al.  Design of adaptive fuzzy sliding mode for nonlinear system control , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[2]  Guang-Chyan Hwang,et al.  A stability approach to fuzzy control design for nonlinear systems , 1992 .

[3]  Sung-Woo Kim,et al.  Design of a fuzzy controller with fuzzy sliding surface , 1995 .

[4]  Yasuhiko Dote,et al.  Variable-structured robust controller by fuzzy logic for servomotors , 1993, IEEE Trans. Ind. Electron..

[5]  Tzuu-Hseng S. Li,et al.  Switching-type fuzzy sliding mode control of a cart–pole system , 2000 .

[6]  William S. Levine,et al.  AN EXPERIMENT TO DEMONSTRATE THE BANDWIDTH REQUIREMENTS OF A NONLINEAR CONTROLLER , 1991 .

[7]  Rainer Palm,et al.  Robust control by fuzzy sliding mode , 1994, Autom..

[8]  Chin E. Lin,et al.  A hybrid-control approach for pendulum-car control , 1992, IEEE Trans. Ind. Electron..

[9]  Spyros G. Tzafestas,et al.  A Simple Robust Sliding-Mode Fuzzy-Logic Controller of the Diagonal Type , 1999, J. Intell. Robotic Syst..

[10]  Chieh-Li Chen,et al.  Optimal design of fuzzy sliding-mode control: A comparative study , 1998, Fuzzy Sets Syst..

[11]  A. Ishigame,et al.  Sliding mode controller design based on fuzzy inference for non-linear systems , 1991, Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation.

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

[13]  S. Tzafestas,et al.  Design and Stability Analysis of a New Sliding-Mode Fuzzy Logic Controller of Reduced Complexity , 1999 .

[14]  Pierre Borne,et al.  Parameter Tuning of Stable Fuzzy Controllers , 2002, J. Intell. Robotic Syst..

[15]  Li-Xin Wang,et al.  Stable adaptive fuzzy controllers with application to inverted pendulum tracking , 1996, IEEE Trans. Syst. Man Cybern. Part B.

[16]  R. Palm,et al.  Sliding mode fuzzy control , 1992, [1992 Proceedings] IEEE International Conference on Fuzzy Systems.

[17]  Ping Hsu,et al.  The Wedge - A Controller Design Experiment , 1991 .

[18]  Lotfi A. Zadeh,et al.  Fuzzy Sets , 1996, Inf. Control..

[19]  G. Ambrosino,et al.  Variable structure model reference adaptive control systems , 1984 .

[20]  Chia-Ju Wu,et al.  Genetic Tuning of PID Controllers Using a Neural Network Model: A Seesaw Example , 1999, J. Intell. Robotic Syst..

[21]  Rainer Palm,et al.  Stability of fuzzy gain-schedulers: sliding-mode based analysis , 1997, Proceedings of 6th International Fuzzy Systems Conference.

[22]  G. Young,et al.  An interdisciplinary control systems laboratory , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[23]  C. L. Hwang,et al.  Improved fuzzy sliding-mode control for a linear servo motor system , 1997 .

[24]  Jean-Jacques E. Slotine,et al.  The Robust Control of Robot Manipulators , 1985 .

[25]  Katsuhisa Furuta,et al.  A NEW INVERTED PENDULUM APPARATUS FOR EDUCATION , 1991 .

[26]  M. Sugeno,et al.  Fuzzy Control of Model Car , 1985 .

[27]  Jacob S. Glower,et al.  Designing fuzzy controllers from a variable structures standpoint , 1997, IEEE Trans. Fuzzy Syst..

[28]  Ebrahim Mamdani,et al.  Applications of fuzzy algorithms for control of a simple dynamic plant , 1974 .

[29]  Li-Xin Wang.  Stable adaptive fuzzy control of nonlinear systems , 1993, IEEE Trans. Fuzzy Syst..

[30]  Chuen-Chien Lee.  FUZZY LOGIC CONTROL SYSTEMS: FUZZY LOGIC CONTROLLER - PART I , 1990 .

[31]  Chia Ju Wu,et al.  Quasi time—optimal PID control of multivariable systems: a seesaw example , 1999 .

[32]  Rainer Palm,et al.  Design of a fuzzy gain scheduler using sliding mode control principles , 2001, Fuzzy Sets Syst..