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| DOI： |
| Received:December 26, 2005Revised:June 03, 2006 |
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| Chattering free adaptive fuzzy terminal sliding mode control for second order nonlinear system |
| Jinkun LIU, Fuchun SUN |
| (School of Automation Science and Electrical Engineering , Beijing University of Aeronautics and Astronautics, Beijing 100083, China; State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084,China) |
| Abstract: |
| A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. |
| Key words: Adaptive fuzzy control Terminal sliding mode control Nonlinear system |
