Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Variable structure control with fuzzy reaching law method for nonlinear systems

비선형 시스템에 대한 퍼지 도달 법칙을 가지는 가변 구조 제어

  • 사공성대 (영동공과대학교 전자공학부) ;
  • 이연정 (경북대학교 전자.전기공학부) ;
  • 최봉열 (경북대학교 전자.전기공학부)
  • Published : 1996.12.01
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Abstract

In this paper, variable structure control(VSC) based on reaching law method with fuzzy inference for nonlinear systems is proposed. The reaching law means the reaching condition which forces an initial state of system to reach switching surface in finite time, and specifies the dynamics of a desired switching function. Since the conventional reaching law has fixed coefficients, the chattering can be existed largely in sliding mode. In the design of a proposed fuzzy reaching law, we fuzzify RP(representative point)'s orthogonal distance to switching surface and RP's distance the origin of the 2-dimensional space whose coordinates are the error and the error rate. The coefficients of the reaching law are varied appropriately by the fuzzy inference. Hence the state of system in reaching mode reaches fastly switching surface by the large values of reaching coefficients and the chattering is reduced in sliding mode by the small values of those. And the effectiveness of the proposed fuzzy reaching law method is showen by the simulation results of the control of a two link robot manipulator.

Keywords

References

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