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Fuzzy sliding-mode controllers with applications

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4 Author(s)
Ha, Q.P. ; Centre for Field Robotics, Sydney Univ., NSW, Australia ; Nguyen, Q.H. ; Rye, D.C. ; Durrant-Whyte, H.F.

This paper concerns the design of robust control systems using sliding-mode control that incorporates a fuzzy tuning technique. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is first designed using pole placement. Switching control is then added to guarantee that the state reaches the sliding mode in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to improve control performance and to reduce chattering in the sliding mode. The practical application of fuzzy logic is proposed here as a computational-intelligence approach to engineering problems associated with sliding-mode controllers. The proposed method can have a number of industrial applications including the joint control of a hydraulically actuated mini-excavator as presented in this paper. The control hardware is described together with simulated and experimental results. High performance and attenuated chatter are achieved. The results obtained verify the validity of the proposed control approach to dynamic systems characterized by severe uncertainties

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Industrial Electronics, IEEE Transactions on  (Volume:48 ,  Issue: 1 )