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URN etd-0819104-145737 Statistics This thesis had been viewed 2824 times. Download 1040 times. Author Chun-Wei Chen Author's Email Address email@example.com Department Electrical Engineering Year 2003 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 41 Title The Design of Distance-Based Fuzzy Sliding Mode Controller for a Class of Nonlinear Uncertain Systems Keyword trajectory tracking signed distance Lyapunov stability fuzzy sliding mode control fuzzy sliding mode control Lyapunov stability signed distance trajectory tracking Abstract In this thesis, we present an algorithm using fuzzy sliding mode control (FSMC) to achieve the prespecified trajectory for a class of nonlinear systems.
The trajectory is based on a set of sequentially-operated piecewise sliding surfaces.
We not only adopt the signed distance as the unique input variable but also present a method of two signed distance for the fuzzy controller, which is called the distance-based fuzzy sliding mode controller (D-FSMC), to control the plant so that the state would follow the sliding surfaces in turn and the parametric uncertainties or disturbances can be reduced effectively.
By using the two signed distance for the fuzzy controller, the response of the tracking error will be small than that of the unique input variable.
Furthermore, we can explicitly calculate the total tracking time for each surface including the hitting time.
It is shown that the stability of the control system is guaranteed in the Lyapunov sense.
Finally, an inverted pendulum control problem subject to external disturbance is simulated to demonstrate the validity of the proposed D-FSMC.
Advisor Committee Wen-Shyong Yu - advisor
none - co-chair
none - co-chair
Files Date of Defense 2004-07-15 Date of Submission 2004-08-19