Fuzzy sliding mode control for erection mechanism with unmodelled dynamics

Abstract

Erection mechanism is a complicated system suffering from nonlinearities, uncertainties and disturbances. It is difficult to establish mathematical model and perform a high precision control using linear control methods. In this study, adaptive fuzzy sliding mode control algorithm was designed to control erection mechanism. The proposed method combines the advantages of fuzzy logic and sliding mode control. The structure of the system is partially unknown and does not require the bounds of uncertainty to be known. Fuzzy logic is used to approximate the unknown parts of the system. The chattering phenomenon of sliding mode control is eliminated without deteriorating the system robustness. Experimental results of the position control under various reference trajectories are obtained. The proposed method can achieve favourable tracking performance for erection mechanism in the presence of unmodelled dynamics and disturbances.