Fuzzy Adaptive Sliding Mode Control of Chain Servo System

In this paper a FASMC algorithm is proposed for the position control of the chain servo system with unknown model parameters. The sliding mode control system is designed according to the ideal mathematical model of the chain servo system. Based on the fuzzy approximation theory, the fuzzy logic system is constructed with the sliding mode switching function as the input variable, and the ideal sliding mode control law is approximated by the output of the fuzzy system. This algorithm realizes the model-free control of the chain servo system by constructing a reasonable fuzzy logic system and has good robustness. In the process of approximation, in order to realize on-line adjustment of adjustable parameters of fuzzy system and further improve the system robustness, an appropriate parameter adaptive law is designed. Finally, an adaptive sliding mode switching control law is designed to guarantee the sliding mode condition of the system, compensate the approximation error and weaken the chattering phenomenon. The simulation results under different loads show that the proposed fuzzy adaptive sliding mode control algorithm can not only approach the ideal control law of the chain servo system effectively, but also has good control precision.