Adaptive fuzzy supervision of the gain of the higher order sliding mode control
by Abdelhak Msaddek; Abderraouf Gaaloul; Faouzi M'sahli
International Journal of Automation and Control (IJAAC), Vol. 9, No. 3, 2015

Abstract: Sliding mode control (called SMC) is a control scheme well known with its robustness against modelling uncertainties and external disturbances. This is achieved by using a high frequency switching part into the control law. However, this leads to the appearing of an undesirable chattering phenomenon around the sliding surface. This generates a serious drawback when implementing the controller in real time. So, the higher order sliding mode controller (HOSMC) can be used to overcome these drawbacks. In this paper, we present a novel technique of HOSMC for uncertain nonlinear systems and to show its high performances, robustness and stability a comparative study with three well know techniques of HOSMC is investigated. Besides, to improve the new strategy of control we propose a fuzzy supervision of the controller gain. This makes the controller free chattering and provides an exponential stability on the sliding surface and guarantees the robustness against uncertainties and external matched disturbances. The proposed approach is applied to a model of a car to ensure a robust tracking of a prescribed reference trajectory. Numerical simulations are developed to show the effectiveness of the proposed approaches.

Online publication date: Mon, 03-Aug-2015

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