Hierarchical robust fuzzy sliding mode control for a class of simo under-actuated systems with mismatched uncertainties
Duc Ha Vu, Shoudao Huang, Thi Diep Tran
The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, chattering phenomenon is its main disadvantage. In this paper, by using the hierarchical sliding control approach, a sliding control law is derived so as to make every subsystem stabilized at the same time. However, the controller making chattering phenomenon around sliding surface. Therefore a proposed solution will combine the sliding mode controller with fuzzy control rules for elimination of the chattering phenomenon and fuzzy control rules is used to replace the sign function of the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.
chattering phenomenon; fuzzy logic control; hierarchical robust fuzzy sliding mode control; single input multi output systems; under-actuated systems