Fuzzy sliding-mode control with low pass filter to reduce chattering effect: an experimental validation on Quanser SRIP

被引:25
作者
Balamurugan, S. [1 ]
Venkatesh, P. [2 ]
Varatharajan, M. [2 ]
机构
[1] KLN Coll Engn, Dept Elect & Instrumentat Engn, Madurai, Tamil Nadu, India
[2] Thiagarajar Coll Engn, Dept Elect & Elect Engn, Madurai, Tamil Nadu, India
来源
SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES | 2017年 / 42卷 / 10期
关键词
Chattering reduction; sliding-mode control (SMC); fuzzy sliding-mode control (FSMC); fuzzy sliding-mode controller with filter (FSMCF); low pass filter (LPF); single rotary inverted pendulum (SRIP); PENDULUM; SYSTEM;
D O I
10.1007/s12046-017-0722-9
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Stabilization of a single rotary inverted pendulum (SRIP) system is a benchmark nonlinear control problem. Inherent instability of SRIP in upright position and the presence of modelling uncertainty pose a challenge for control engineers. Sliding-mode control (SMC) is the most widely accepted robust control technique. Various versions of SMCs to stabilize SRIP have been reported in literature. Advantages of SMC come at the cost of chattering of input, which inhibits its usage in many practical applications. Several works have been done to reduce the chattering in SMC. Application of fuzzy logic in SMC to reduce chattering has been analysed extensively in the literature. Even though implementation of fuzzy SMC (FSMC) in theory/simulations completely eliminates chattering, practical implementation of FSMC does not reduce chattering to zero. In this paper, a filtered FSMC is proposed, which filters the high frequency component in the system input. Experimental results of SMC, FSMC and a fuzzy sliding-mode controller with filter (FSMCF) are given in this paper. Results indicate that filtering the output of FSMCF reduces the chattering effect in the system without affecting the closed loop dynamics.
引用
收藏
页码:1693 / 1703
页数:11
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