Fuzzy Non-singular Terminal Sliding Mode Controller Design for Nonlinear Systems with Input Saturation
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Fuzzy Non-singular Terminal Sliding Mode Controller Design for Nonlinear Systems with Input Saturation Keqi Mei1 • Shihong Ding1,2 • Xiangyong Chen2
Received: 26 April 2020 / Revised: 16 June 2020 / Accepted: 30 June 2020 Taiwan Fuzzy Systems Association 2020
Abstract The current work has proposed an approach to the controller design of a fuzzy non-singular terminal sliding mode (NTSM) for a type of planar systems with input saturation. On the basis of a modified version of NTSM, a category of saturated NTSM controller is first constructed to ensure that the states can reach the sliding surface and finite-time converge to the origin. On this basis, a fuzzy logic controller including two fuzzy input variables and a fuzzy output variable is developed to adaptively adjust the control gain such that the gain of the NTSM controller can be automatically minimized. This also implies that the chattering phenomenon encountered by most conventional sliding mode control (SMC) schemes can be significantly attenuated without sacrificing inherent properties. Finally, in comparison with a traditional SMC method, the superiority of the presented algorithm is confirmed by the comparative simulation results in terms of chattering alleviation and robustness. Keywords Finite-time convergence Fuzzy logic controller Terminal sliding mode Input saturation
& Shihong Ding [email protected] & Xiangyong Chen 1
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
2
Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong, Linyi University, Linyi 276005, China
1 Introduction The disturbances, which encompass unmodeled dynamics, system uncertainties, external disturbances and parameter perturbations, are ubiquitous in actual control systems [1–12]. Nonetheless, all the control engineering tasks have to face and handle the disturbances since they may generate adverse effects on control performance and even system stability [13]. To suppress the disturbances and improve system robustness, numerous control methods have been presented, among which the sliding mode control (SMC) has attained considerable attention owing to its attractive features including simple implementation, good transient performance and strong robustness [14]. Thereby, the SMC is deemed to be a valid approach to the control of systems with disturbances [15–25]. Simply speaking, the SMC comprises the reaching phase and the sliding phase [16]. The two phases correspond to two design steps, that is, the selection of sliding surface and the construction of controller. On the prescribed sliding surface, the closed-loop system will exhibit desired dynamic characteristics, while the controller will guarantee that the states reach the sliding surface [13–15]. Due to the effects of sliding surface on the stability and dynamic performance of the system, the design of sliding surface is the primary subject in the SMC method [26]. Generally speaking, the linear sliding surface is always utilized to de
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