Design of nonlinear motor adaptive fuzzy sliding mode controller based on GA

Abstract

An adaptive fuzzy integral type sliding mode control method is proposed in this paper to compensate nonlinear dynamic friction that exists in single-axle motion control system and to improve the system position tracking performance. A kind of integral type sliding mode function is introduced, and the sliding mode control law that is obtained by using this sliding function does not include the switch controller that exists in conventional variable structure control law, therefore, the chattering phenomenon can be avoided. The parameter adaptive laws are derived in the sense of Lyapunov stability theorem, the parameters in adaptive laws are optimized by genetic algorithm. Simulation results show that adaptive fuzzy integral type sliding mode controller can achieve favorable tracking performance and robust with system nonlinear dynamic friction. © Springer-Verlag Berlin Heidelberg 2007.