On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot
Narges Gholami Mozafari, Farzin Piltan, Mohammad Shamsodini, Azita Yazdanpanah, Ali Roshanzamir · International Journal of Intelligent Systems and Applications · 2014
Classical sliding mode controller is robust to model uncertainties and external d isturbances.A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system.One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface.Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system.Classical sliding mode control method has difficulty in handling unstructured model uncertainties.One can overcome this problem by combin ing a sliding mode controller and fuzzy system together.Fuzzy rules allow fuzzy systems to approximate arbitrary continuous functions.To approximate a time-varying nonlinear system, a fu zzy system requires a large amount of fuzzy rules.This large number of fuzzy ru les will cause a high computation load.The addition of an adaptive law to a fuzzy slid ing mode controller to online tune th e parameters of the fuzzy ru les in use will ensure a moderate co mputational load.Refer to this research; tuning methodology can online adjust both the premise and the consequence parts of the fuzzy rules.Since this algorith m for is specifically applied to a robot manipulator.