Study on a combined scheme by using T-S fuzzy and TSMC approaches

Sendren Sheng Dong Xu, Yew-Wen Liang, Kuo Chin Wang, Chih Chiang Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This study investigates the hybrid design by using the Takagi-Sugeno (T-S) fuzzy system modeling method and the Terminal Sliding Mode Control (TSMC) technique. The combined scheme is shown to have the merits of both approaches. The presented scheme can alleviate the on-line computational burden because T-S fuzzy model can approximate the original nonlinear system and some of the parameters can be off-line computed. Moreover, it can also preserve the advantages of TSMC, including rapid response, robustness to uncertainties and/or external disturbance, and guaranteeing the fast finite-time state convergence. The proposed method is applied to a two-link robot manipulator dynamics, and it is also compared to the combination of T-S fuzzy system and conventional Sliding Mode Control (SMC) design. Simulation results demonstrate the benefits of the proposed scheme.

Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013
Pages38-44
Number of pages7
DOIs
StatePublished - 28 Oct 2013
Event2013 3rd IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013 - Singapore, Singapore
Duration: 16 Apr 201319 Apr 2013

Publication series

NameProceedings of the 2013 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013

Conference

Conference2013 3rd IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013
CountrySingapore
CitySingapore
Period16/04/1319/04/13

Keywords

  • nonlinear control
  • robot manipulator
  • Takagi-Sugeno (T-S) fuzzy
  • Terminal sliding mode control (TSMC)

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