Robust sliding mode control with application

摘要

This paper presents a methodology combining sliding mode control and fuzzy tuning technique to enhance robustness and sliding performance in a class of non-linear control systems. The proposed control law consists of equivalent control, robust control, and fuzzy control. The equivalent control is designed such that the nominal system exhibits desirable dynamics. The robust control is then developed to guarantee the reaching condition in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to improve control performance and to alleviate chattering in the sliding mode. The method is applied to the control of a two-degree-of-freedom robotic manipulator. Simulation results verify the validity of the proposed approach.