Farzin Piltan; Mohammad A. Bairami; Farid Aghayari; Mohammad Reza Rashidian

Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

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Author(s)

Farzin Piltan ^1,* Mohammad A. Bairami ¹ Farid Aghayari ¹ Mohammad Reza Rashidian ¹

1. Industrial Electrical and Electronic Engineering SanatkadeheSabze Pasargad. CO (S.S.P. Co), NO:16 , PO.Code 71347- 66773, Fourth floor, Dena Apr , Seven Tir Ave , Shiraz , Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijitcs.2013.07.12

Received: 12 Sep. 2012 / Revised: 4 Feb. 2013 / Accepted: 15 Apr. 2013 / Published: 8 Jun. 2013

Index Terms

Fuzzy Logic Control, Sliding Mode Control, PD Control, Parallel Sliding Mode Compensation

Abstract

Both fuzzy logic and sliding mode can compensate the steady-state error of proportional-derivative (PD) control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

Cite This Paper

Farzin Piltan, Mohammad A. Bairami, Farid Aghayari, Mohammad Reza Rashidian, "Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator", International Journal of Information Technology and Computer Science(IJITCS), vol.5, no.7, pp.103-114, 2013. DOI:10.5815/ijitcs.2013.07.12

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