Genetic-based Sliding Mode Fuzzy Controller Design

Ching-Chang Wong; Bing-Chyi Huang; Hung-Ren Lai

doi:10.6180/jase.2001.4.3.03

Genetic-based Sliding Mode Fuzzy Controller Design

Ching-Chang Wong This email address is being protected from spambots. You need JavaScript enabled to view it.¹, Bing-Chyi Huang¹ and Hung-Ren Lai¹

¹Department of Electrical Engineering Tamkang University Tamsui, Taipei, Taiwan 251, R.O.C.

Received: July 4, 2001
Accepted: August 1, 2001
Publication Date: September 1, 2001

Download Citation: ||https://doi.org/10.6180/jase.2001.4.3.03

ABSTRACT

In this paper, we proposed a genetic-based sliding mode fuzzy controller design method to avoid the chattering phenomena in traditional sliding mode controller (SMC), and shorten the hitting time of the controlled system. Chattering reduction is an important issue in the sliding mode controller that has been wildly discussed, and we know that a proper width Φ of the boundary layer of sliding surface can suppress chattering in sliding surface very well. In the other hand, the time that system state hits the sliding surface from initial state is also an important property that influences the performance of SMC. The time can also be shortened via a suitable determination of parameter K. In this paper, a genetic-based method is developed to obtain these two important parameters. An inverse pendulum system is utilized to perform the control effect of the designed sliding mode fuzzy controller.

Keywords: Fuzzy Control, Sliding Mode Control, Genetic Algorithm

REFERENCES

[1] Davis, L. (Ed.), Handbook of Genetic Algorithms, Van Nostrand Reinhold, New York, U. S. A. (1991).
[2] Goldberg, D. E., Genetic Algorithms in Search, Optimization, and Machine Learning, Reading, Addison-Wesley, Reading, MA, U. S. A. (1989).
[3] Hwang, G. C. and Lin, S. C., “A stability approach to fuzzy control design for nonlinear systems,” Fuzzy Sets and Systems, Vol. 48, pp. 279-287 (1992).
[4] Itkis, U., Control system of variable structure, Wiely, New York, U. S. A. (1976).
[5] Jang, J. S., “Self-learning fuzzy controllers based on temporal back propagation,” IEEE Trans. on Neural Networks, Vol. 3, pp. 714-723 (1992).
[6] Kim, S. W. and Lee, J. J., “Design of a fuzzy controller with fuzzy sliding surface,” Fuzzy Sets and Systems, Vol. 71, pp. 359-367 (1995).
[7] Lee, C. C., “Fuzzy logic in control systems: fuzzy logic controller-part I and II,” IEEE Trans. on Systems, Man, and Cybernetics, Vol. 20, pp. 404-435 (1990).
[8] Lee, M. A. and Takagi, H.,” Integrating design stages of fuzzy systems using genetic algorithms,” Proc. of 2nd IEEE Int. Conf. on Fuzzy Systems, pp. 612-617 (1993).
[9] Lin, S. C. and Chen, Y. Y., “Design of adaptive fuzzy sliding mode for nonlinear system control,” Proc. of Third IEEE Int. Conf. on Fuzzy Systems, pp. 35-39 (1994).
[10] Lin, S. C. and Kung, C. C., “The fuzzy sliding mode controller,” Proc. of the 15th Nat. Sym. on Automatic Control, pp. 359-366 (1992).
[11] Morgan, R. G. and Ozguner, U., “A decentralized variable structure control algorithm for robotic manipulators,” IEEE J. of Robotics and Automation, RA-1, pp. 57-65 (1985).
[12] Palm, R., “Robust control by fuzzy sliding mode,” Automatica, Vol. 30, pp. 1429-1437 (1994).
[13] Slotine, J. J., “Sliding controller design for non-linear systems,” Int. J. of Control, Vol. 40, pp. 421-434 (1984).
[14] Tamal, Y., Akhmetov, D. and Dote, Y., “Novel fuzzy-neural network with general parameter learning applied to sliding mode control systems,” Proc. of IEEE Int. Conf. on Systems, Man, and Cybernetics, Vol. 1, pp. 376-379 (1999).
[15] Utkin, V. I., Sliding Modes and Their Application in Variable Structure Systems, MIR, Moscow (1978).
[16] Wang, W. J. and Lee, J. L., “Hitting time reduction and chattering attenuation in variable structure systems,” J. of Control Systems and Technology, Vol. 1, pp. 19-25 (1993).
[17] Wong, C. C. and Feng, S. M., “ Switchingtype fuzzy controller design by genetic algorithms,” Fuzzy Sets and Systems, Vol. 74, pp. 175-185 (1995).
[18] Wong, L. K., Leung, F. H. F. and Tam, P. K. S., “Combination of sliding mode controller and PI controller using fuzzy logic controller,” Proc. of IEEE Int. Conf. on Fuzzy Systems, Vol. 1, pp. 296-301 (1998).
[19] Yeung, K. S. and Chen, Y. P., “A new controller design for manipulators using the theory of variable structure systems,” IEEE Trans. on Automatic Control, AC-33, pp. 200-206 (1988).
[20] Zhang, D. Q. and Panda, S. K., “Chatteringfree and fast-response sliding mode controller,” IEEE Proc. on Control Theory and Applications, Vol. 146, pp. 171-177 (1999).