کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

Precise Positioning of a Lever-Arm System via Fuzzy-Tuned Sliding Mode Control: Design and Implementation

نویسندگان :

Omid Nahidi¹ Sadra Rafatnia² Mehdi Mirzaei³ Gholamreza Bami Mohammadi⁴

1- Sahand University of Technology 2- Sahand University of Technology 3- Sahand University of Technology 4- Sahand University of Technology

کلمات کلیدی :

Position control،Sliding mode control،Fuzzy tuning،Lever arm،Chattering elimination

چکیده :

This paper presents the design and practical implementation of a fuzzy-tuned sliding mode control (FSMC) system for the accurate positioning of a lever-arm. The presence of un-modeled dynamics, parametric uncertainties, and external disturbances in this system poses significant challenges including the chattering phenomenon for conventional control strategies. To address this, the proposed hybrid scheme combines the inherent robustness of sliding mode control with the adaptability of fuzzy logic. This integration mitigates chattering and enhances trajectory tracking performance under system perturbations. Within this framework, a fuzzy logic component dynamically adjusts the controller gain based on the sliding surface value and its derivative. Nine linguistic rules, constructed from fundamental control principles, are designed to manage the system's nonlinear behavior effectively. The control algorithm was implemented on a custom lever-arm platform and experimentally validated through tests with various desired trajectories. The results demonstrate the strong performance of the suggested FSMC, showing superior tracking accuracy and robustness compared to the conventional sliding mode controller.