Indirect Adaptive Interval Type-2 Fuzzy PI Sliding Mode Control for a Class of Uncertain\ Nonlinear Systems

Document Type : Research Paper

Authors

1 Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing, Ferdowsi University of Mash- had, Iran

2 Department of Electrical Engineering, Cen- ter of Excellence on Soft Computing and Intelligent Information Processing, Fer- dowsi University of Mashhad, Iran

Abstract

Controller design remains an elusive and challenging problem for
uncertain nonlinear dynamics. Interval type-2 fuzzy logic systems (IT2FLS) in
comparison with type-1 fuzzy logic systems claim to effectively handle system
uncertainties especially in the presence of disturbances and noises, but lack a
formal mechanism to guarantee performance. In contrast, adaptive sliding mode
control (ASMC) provides a robust mechanism to provide system stability against
parameter changes and uncertainties, but suffers from chattering phenomenon.
In this paper, a stable indirect adaptive interval type-2 fuzzy PI sliding mode
controller (AIT2FSMC) is investigated for a class of nonlinear systems in the
presence of system's unmodeled dynamics and external disturbances. The added
Proportional Integral (PI) structure is used to further attenuate the chattering
problem that is common in sliding mode control systems. The interval type-2
fuzzy adaptation law adjusts the consequent parameters of the rules based on a
Lyapunov synthesis approach. Mathematical analysis proves the closed loop
asymptotic stability, while benefiting from human expert knowledge to improve
transient response of the system. Application to two nonlinear systems verifies
the robustness of the proposed AIT2FSMC approach in the presence of
uncertainties and bounded external disturbances, especially when disturbances
have fast changes and large magnitudes.

Keywords

References

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Iranian Journal of Fuzzy Systems
Volume 11, Issue 5 - Serial Number 5
September and October 2014
Pages 1-21

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