T-S Fuzzy Model and Optimal Reaching Law-Based Sliding Mode Control for Nonlinear Trajectory Tracking

Abstract:

A novel sliding mode controller based on Takagi and Sugeno (T-S) fuzzy system model and optimal reaching law is presented to design the output tracking controller for the nonlinear system. The T-S fuzzy logic theory is used to build a global fuzzy state-space linear model, the sliding surface is defined by using pole assignment method, and the optimal switch control law which can drive the state variables to the sliding surface as soon as possible is designed under the condition of minimizing the defined cost function. The gains of optimal switch control law designed by using fuzzy logic algorithm alleviate the chattering phenomenon. Lyapunov equation is applied to prove the stability of controlled system. The simulation results show that the proposed approach can achieve nonlinear trajectory tracking with better performance and less chattering problem.

• Periodical: Applied Mechanics and Materials (Volumes 321-324)
• Pages: 1854-1857
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.321-324.1854
• Online since: June 2013
• Authors: Jun Xia Wang, Qun Xiong Zhu
• Keywords: Nonlinear Trajectory Tracking, Sliding Mode Control, T-S Fuzzy Model

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