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Design and Implementation of Fuzzy Sliding-Mode Controller for a Wedge Balancing System

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Abstract

In this paper, we address the design and implementation of fuzzy sliding-mode controller for balancing a wedge system. At first, we examine the mathematical model of the wedge balancing system. The dynamic system is complex and ill defined; hence we propose the fuzzy sliding-mode control (FSMC) method to achieve the control objective. The proposed control method enhances the ability of fuzzy logic control so that the minimal number of fuzzy inference rules is systematically obtained even the plant parameters are unknown. Both computer simulations and real-time experiments are exploited to demonstrate the validity and feasibility of the developed control scheme.

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Authors and Affiliations

  1. IC2S Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan, 70101, Taiwan, R.O.C

    Jeng-Hann Li, Tzuu-Hseng S. Li & Ting-Han Ou

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  1. Jeng-Hann Li
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  2. Tzuu-Hseng S. Li
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  3. Ting-Han Ou
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Correspondence to Tzuu-Hseng S. Li.

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Li, JH., Li, TH.S. & Ou, TH. Design and Implementation of Fuzzy Sliding-Mode Controller for a Wedge Balancing System. Journal of Intelligent and Robotic Systems 37, 285–306 (2003). https://doi.org/10.1023/A:1025497626211

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