Slidingmode Fuzzy Controllers 1st Edition Mojtaba Ahmadieh Khanesar by Mojtaba Ahmadieh Khanesar, Okyay Kaynak, Erdal Kayacan instant download after payment.

This book deals with motion control using sliding-mode fuzzy logic control. The sliding-mode fuzzy logic controller is a robust nonlinear control approach that has been successfully used in various applications. The main benefit of this controller is that it reduces tracking control to a bang–bang controller, directing states of the system to a sliding manifold, which defines the desired trajectory of the system and maintains them there. Such a controller is basically composed of a nominal control signal and a switching term to guarantee the robustness of the system against matched uncertainties. However, this controller suffers from chattering, high-frequency variations in the control signal, which may be caused by the switching term when there exist unmodeled dynamics and time delays in the control. Such a phenomenon excites the higher frequency dynamics of the system, gives rise to wears and tears, and results in the aging of the actuator, which, in turn, adds more uncertainties to the system.
Sensitivity to noise is another issue that may be visited especially when states of the system are close to the sliding surface. Last but not the least, the nominal part of the sliding-mode control approach needs to be known a priori. Time variations in such a nominal part may disturb the controller. A fuzzy logic system is therefore designed to alleviate these issues by either using soft switching, rule-based control, or acting as an identifier to various parts of the nonlinear system.