Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay

Mostafa Khazaee; Amir H D Markazi; Ehsan Omidi

doi:10.1016/j.isatra.2015.10.010

Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay

ISA Trans. 2015 Nov:59:314-24. doi: 10.1016/j.isatra.2015.10.010. Epub 2015 Oct 30.

Authors

Mostafa Khazaee¹, Amir H D Markazi², Ehsan Omidi³

Affiliations

¹ Digital Control Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Narmak, 16844 Tehran, Iran. Electronic address: khazaee_m@iust.ac.ir.
² Digital Control Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Narmak, 16844 Tehran, Iran. Electronic address: markazi@iust.ac.ir.
³ Nonlinear Intelligent Structures Laboratory, Department of Mechanical Engineering, The University of Alabama, Box 870276, Tuscaloosa, AL 35487, USA. Electronic address: eomidi@crimson.ua.edu.

PMID: 26524958
DOI: 10.1016/j.isatra.2015.10.010

Abstract

In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound.

Keywords: Adaptive fuzzy sliding mode control; Adaptive predictor; Bound-known delay; Input delay; Uncertain nonlinear system.