What is fuzzy sliding mode control?

What is fuzzy sliding mode control?

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.

What is sliding mode technique?

Sliding mode control (SMC) is a nonlinear control technique featuring remarkable properties of accuracy, robustness, and easy tuning and implementation. SMS systems are designed to drive the system states onto a particular surface in the state space, named sliding surface.

Why we use sliding mode control?

The main strength of sliding mode control is its robustness. Because the control can be as simple as a switching between two states (e.g., “on”/”off” or “forward”/”reverse”), it need not be precise and will not be sensitive to parameter variations that enter into the control channel.

What are the advantages of sliding mode control?

The paper presents the basic concepts, mathematical and design aspects of sliding mode control.It is shown that the main advantages of sliding mode control are order reduction, decoupling design procedures, disturbance rejection, insensitivity to parameter variations, simple implementation by means of conventional …

What is integral sliding mode control?

Variable Structure Control Systems (VSCS) are a class of systems where the control law, as a function of the system state, is deliberately changed (from one structure to another) according to some predefined rules: for example a relay system.

What are the advantages of using sliding mode control in robotics?

A classic Sliding Mode Control (SMC) has many advantages like precise tracking and robustness against disturbances and unpredicted inaccuracies which are existing in a system like UAVs.

What are the disadvantages of sliding mode control?

The main disadvantages of SMC are the chattering problem. The chattering is the natural price that the SMC pays in order to 1) eliminate completely the matched external disturbances 2) replace the original system by a new certain one, which created according to the desired features, and maybe with a lower order.

Where is sliding mode control used?

ABSTRACT. Sliding mode control is used now in the speed control of electric drive systems. It provides attractive features such as fast dynamic response, insensitivity to variations in plant parameters and external disturbance.

What is sliding surface?

The sliding surface is a hyperplane that characterizes the operation of the discontinuous nonlinear control input. The name of the control method comes from the behavior of states that act along sliding surface towards equilibrium point.

Is sliding mode control useful?

Sliding mode control has many applications in robotics. In particular, this control algorithm has been used for tracking control of unmanned surface vessels in simulated rough seas with high degree of success.