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A neuro-fuzzy-sliding mode controller using nonlinear sliding surface applied to the coupled tanks system

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Abstract

The aim of this paper is to develop a neuro-fuzzy-sliding mode controller (NFSMC) with a nonlinear sliding surface for a coupled tank system. The main purpose is to eliminate the chattering phenomenon and to overcome the problem of the equivalent control computation. A first-order nonlinear sliding surface is presented, on which the developed sliding mode controller (SMC) is based. Mathematical proof for the stability and convergence of the system is presented. In order to reduce the chattering in SMC, a fixed boundary layer around the switch surface is used. Within the boundary layer, where the fuzzy logic control is applied, the chattering phenomenon, which is inherent in a sliding mode control, is avoided by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to drive the system states into the boundary layer. Moreover, to compute the equivalent controller, a feed-forward neural network (NN) is used. The weights of the net are updated such that the corrective control term of the NFSMC goes to zero. Then, this NN also alleviates the chattering phenomenon because a big gain in the corrective control term produces a more serious chattering than a small gain. Experimental studies carried out on a coupled tank system indicate that the proposed approach is good for control applications.

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Authors and Affiliations

  1. Control Laboratory, Military Polytechnic School, Bordj-EL-Bahri, Algiers, 16111, Algeria

    Ahcene Boubakir

  2. Process Control Laboratory, National Polytechnic School, Avenue Pasteur, Hassen Badi, BP 182, El-Harrach, Algiers, Algeria

    Fares Boudjema

  3. Laboratory of Modeling and Studies in Electrical Engineering, Faculty of Engineering, University of Jijel, Jijel, Algeria

    Salim Labiod

Authors
  1. Ahcene Boubakir
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  2. Fares Boudjema
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  3. Salim Labiod
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Corresponding author

Correspondence to Ahcene Boubakir.

Additional information

Ahcene Boubakir received the B.Eng. degree in automatic control from University of Jijel, Jijel, Algeria, in 2004, M. Sc. degree in automatic control and robotics from Polytechnic School (EMP), Algiers, Algeria, in 2007. He is currently a Ph.D. candidate in automatic control at the National Polytechnic School.

His research interests include nonlinear control, sliding mode control, and fuzzy logic.

Fares Boudjema received the M. Eng. degree in electrical engineering from the Ecole Nationale Polytechnique, Algiers, Algeria, in 1985, the DEA degree, and the Ph.D. degree in automatic control from the Université Paul Sabatier, Toulouse, France, in 1987 and 1991, respectively. In 1991, he joined the Department of Electrical Engineering of the Ecole Nationale Polytechnique, Algiers, as an assistant professor. He was promoted to associate professor in 1994, and professor in 2000.

His research interests include application of sliding mode control, artificial neural network control, fuzzy control, and decentralized control in the field of the electrical machines, power systems, and robotics.

Salim Labiod received the B.Eng. M. Sc. and Ph.D. degrees in control engineering from National Polytechnic School of Algiers (ENP), Algeria, in 1995, 1998 and 2005, respectively. Since 1998, he has held teaching and research positions in the Faculty of Engineering at the University of Jijel, Algeria, where he is currently an associate professor.

His research interests include nonlinear control, adaptive control, and fuzzy control.

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Boubakir, A., Boudjema, F. & Labiod, S. A neuro-fuzzy-sliding mode controller using nonlinear sliding surface applied to the coupled tanks system. Int. J. Autom. Comput. 6, 72–80 (2009). https://doi.org/10.1007/s11633-009-0072-0

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  • DOI: https://doi.org/10.1007/s11633-009-0072-0

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