In this paper, we propose the sliding mode control (SMC) based on the fuzzy disturbance observer for systems with disturbances to minimize the switching gain and reduce chattering phenomenon. The proposed method exhibits the following two attractive features. First, using the universal approximation and the adjustable parameter of the fuzzy system, the switching gain in proposed control law is only required to be designed greater than the sum of magnitude of the disturbance approximation error and the fuzzy reconstruction. It implies that the proposed controller is less dependent on the range of switching gain to stabilize the system than SMC; thus, the minimization of switching gain can reduce the chattering. Second, the proposed method exhibits much better control performance than the traditional SMC and Nonlinear Disturbance Observer (NDOB)-based SMC, such as reduced chattering and good performance. The stability of the proposed control system is proved using Lyapunov method. To verify the effectiveness of the minimization of switching gain and chattering, we show the performance of the proposed method through some simulations of the inverted pendulum.
Fuzzy disturbance observer Sliding mode control Switching gain Chattering reduction Uncertainty External disturbance
This is a preview of subscription content, log in to check access.
This work was supported by the research grant of the Kongju National University in 2013.
Chen M, Chen W-H (2010) Sliding mode control for a class of uncertain nonlinear system based on disturbance observer. Int J Adapt Control Signal Process 24:51–64zbMATHGoogle Scholar
Fu Y, Chang TY (2007) Nonlinear multivariable adaptive control using multiple models and neural networks. Automatica 43:1101–1110CrossRefzbMATHGoogle Scholar
Kim E (2002) A fuzzy disturbance observer and its application to control. IEEE Trans Fuzzy Syst 10:77–84CrossRefGoogle Scholar
Li S, Zong K, Liu H (2011) A composite speed controller based on a second-order model of permanent magnet synchronous motor system. Trans Inst Meas Control 33:522–541CrossRefGoogle Scholar
Lu Y-S (2009) Sliding-mode disturbance observer with switching-gain adaptation and its ap-plication to optical disk drives. IEEE Trans Ind Electron 56:3743–3750CrossRefGoogle Scholar
Lu YS, Chiu CW (2011) A stability-guaranteed integral sliding disturbance observer for sys-tems suffering from disturbances with bounded first time derivatives. Int J Control Autom Syst 9:402–409CrossRefGoogle Scholar
Man ZH, Paplinski AP, Wu HR (1994) A robust MIMO terminal sliding mode control scheme for rigid robot manipulators. IEEE Trans Autom Control 39:2464–2469CrossRefzbMATHMathSciNetGoogle Scholar
Wei XJ, Guo L (2010) Sliding mode control for a class of uncertain nonlinear system based on disturbance observer. Int J Adapt Control Signal Process 24:51–64Google Scholar
Wei XJ, Zhang HF, Guo L (2009) Composite disturbance-observer based control and terminal sliding mode control for uncertain structural systems. Int J Syst Sci 40:1009–1017CrossRefzbMATHMathSciNetGoogle Scholar