Fuzzy sliding mode controlled slider crank mechanism using a PM synchronous servo motor drive

The dynamic response of a sliding mode controlled slider-crank mechanism, which is driven by a permanent magnet (PM) synchronous servo motor, is studied in this paper. The rod and crank are assumed to be rigid. The Hamilton's principle and Lagrange multiplier method are applied to formulate the equation of motion. Reducing the differential-algebraic equations and employing the Runge-Kutta numerical method, the state variable representation is obtained. Moreover, based on the principles of the sliding mode control, a position controller is developed. Then, a simple fuzzy inference mechanism is utilized to estimate the upper bound of uncertainties for the sliding mode controller. Numerical results show that the dynamic behavior of the proposed controller-motor-mechanism system is robust to parametric variation and external disturbance. (C) 1998 Elsevier Science Ltd. All rights reserved.