H. Allamehzadeh (USA)
Fuzzy Control, Sliding Mode Control, Robust Control
Fundamentals of sliding mode control are used to develop a stable and robust fuzzy controller. Then, to eliminate the high frequency oscillations around the boundary layer, we introduced a boundary layer near the sliding surface, through the concept of input-output mapping factor. Furthermore, to optimize size of the rule table for the developed fuzzy controller, we allowed its boundary layer width to be adaptive. Finally, to evaluate the performance of the proposed controller, we employ it to stabilize an inverted pendulum from various initial conditions. The simulation results indicate the merit of the proposed controller.
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