Original scientific paper
https://doi.org/10.1080/00051144.2017.1377913
Fuzzy sliding mode control for erection mechanism with unmodelled dynamics
Jiangtao Feng
; Xi’an High-Tech Research Institute, Xi’an, China
Qinhe Gao
; Xi’an High-Tech Research Institute, Xi’an, China
Wenliang Guan
; Xi’an High-Tech Research Institute, Xi’an, China
Xianxiang Huang
; Xi’an High-Tech Research Institute, Xi’an, China
Abstract
Erection mechanism is a complicated system suffering from nonlinearities, uncertainties and disturbances. It is difficult to establish mathematical model and perform a high precision control using linear control methods. In this study, adaptive fuzzy sliding mode control
algorithm was designed to control erection mechanism. The proposed method combines the advantages of fuzzy logic and sliding mode control. The structure of the system is partially unknown and does not require the bounds of uncertainty to be known. Fuzzy logic is used to
approximate the unknown parts of the system. The chattering phenomenon of sliding mode control is eliminated without deteriorating the system robustness. Experimental results of the position control under various reference trajectories are obtained. The proposed method can achieve favourable tracking performance for erection mechanism in the presence of unmodelled dynamics and disturbances.
Keywords
Fuzzy logic control; sliding mode control; erection mechanism; electrohydraulic system
Hrčak ID:
203350
URI
Publication date:
1.12.2017.
Visits: 1.018 *