Design and Implementation of Fuzzy Sliding-Mode Controller for a Wedge Balancing System

In this paper, we address the design and implementation of fuzzy sliding-mode controller for balancing a wedge system. At first, we examine the mathematical model of the wedge balancing system. The dynamic system is complex and ill defined; hence we propose the fuzzy sliding-mode control (FSMC) meth...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2003-07, Vol.37 (3), p.285-306
Main Authors: Li, Jeng-hann, Li, Tzuu-hseng S, Ou, Ting-han
Format: Article
Language:English
Subjects:
Control systems
Dynamical systems
Dynamics
Fuzzy
Fuzzy logic
Fuzzy set theory
Mathematical models
Studies
Wedges
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Summary:In this paper, we address the design and implementation of fuzzy sliding-mode controller for balancing a wedge system. At first, we examine the mathematical model of the wedge balancing system. The dynamic system is complex and ill defined; hence we propose the fuzzy sliding-mode control (FSMC) method to achieve the control objective. The proposed control method enhances the ability of fuzzy logic control so that the minimal number of fuzzy inference rules is systematically obtained even the plant parameters are unknown. Both computer simulations and real-time experiments are exploited to demonstrate the validity and feasibility of the developed control scheme.
ISSN:0921-0296
1573-0409
DOI:10.1023/A:1025497626211