Simple robust sliding-mode fuzzy-logic controller of the diagonal type

Tzafestas, SG; Rigatos, GG

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Rigatos, GG	en
dc.date.accessioned	2014-03-01T01:14:21Z
dc.date.available	2014-03-01T01:14:21Z
dc.date.issued	1999	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13012
dc.subject	sliding-mode control	en
dc.subject	fuzzy logic control	en
dc.subject	sliding-mode fuzzy logic control	en
dc.subject	sliding surface	en
dc.subject	iterative learning control	en
dc.subject	mobile robot motion control	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Asymptotic stability	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Computer simulation	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Intelligent control	en
dc.subject.other	Mobile robots	en
dc.subject.other	Motion control	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Fuzzy logic control	en
dc.subject.other	Iterative learning control	en
dc.subject.other	Sliding mode control	en
dc.subject.other	Fuzzy control	en
dc.title	Simple robust sliding-mode fuzzy-logic controller of the diagonal type	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1008161815798	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1008161815798	en
heal.language	English	en
heal.publicationDate	1999	en
heal.abstract	This paper derives and analyzes a new robust fuzzy-logic sliding-mode controller of the diagonal type, which does not need the prior design of the rule base. The basic objective of the controller is to keep the system on the sliding surface so as to ensure the asympotic stability of the closed-loop system. The control law consists of two rules: (i) IF sign(e(t)(e) over dot(t)) < 0 THEN maintain the control action, and (ii) IF sign(e(t)(e) over dot(t)) > 0 THEN change the control action, where e(t) = x(t) - x(d)(t) is the system state error, and the control action can be either an increase or decrease of the control signal, which is realized through the use of fuzzy rules. The proposed controller, which does not need the prior knowledge of the system model and the prior design of the membership functions' shape, was tested, by simulation, on linear and nonlinear systems. The performance was in all cases excellent (very fast trajectory tracking, no chattering) . Of course, as in traditional control, there was a trade-off between the rise-time and the overshoot of the system response.	en
heal.publisher	Kluwer Academic Publishers, Dordrecht, Netherlands	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1008161815798	en
dc.identifier.isi	ISI:000083283300009	en
dc.identifier.volume	26	en
dc.identifier.issue	3	en
dc.identifier.spage	353	en
dc.identifier.epage	388	en