Use of sliding mode controller functions in a TSK-type FLC
Min Gang Xu, Samuel M. Smith · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1995
In this paper, a TSK type fuzzy logic controller (FLC) with sliding mode controllers (SMC) as its rule consequents is developed, namely a fuzzy sliding controller (FSC). As FSC is a nonlinear controller and its parameters can be easily decided through an analysis of the desired slope and the boundary layer's thickness of the SMC in different regions in the state space. Moreover, the FSC can provide a nonlinear static mapping with fewer rules, and its stability can be analyzed through the sliding condition of the SMC. The derivation of gradient descent based update equations for learning the parameters in each rule of the FSC is included in this paper. Simulation results with an inverted pendulum model are presented. Comparisons between the FSC and a TSK type FLC with linear output functions are also included in this paper.