A Proposed DC Motor Sliding Mode Position Controller Design using Fuzzy Logic and PID Techniques

Abstract

Due to the robustness of sliding mode controllers (SMCs), especially against model uncertainties and disturbances, and also its ability in controlling nonlinear and multi-input multi-output (MIMO) systems; a DC motor sliding mode position controller design using fuzzy logic (FL) and proportional-integral-derivative (PID) techniques, is proposed in this paper. Also, due to system uncertainties that can lead to chattering phenomena in control law which can excite non-modeled dynamics and may damage the process, different approaches, like intelligent techniques, are used to minimize these effects. In this paper, the FL will be considered in the design of SMC. Also, a PID will be used in the outer loop in the control law then the gains of the sliding term and PID term are tuned on-line by a fuzzy system, so the chattering is avoided and response of system is improved against external load here. Presented simulation results confirm the above proposal and demonstrate the performance improvement to the example of DC motor.

Artificial Intelligence Based First Order Adaptive Sliding Mode Controller for Position Control of a DC Motor Actuator

“…The Lypunove Stability Proof: Given that (17) Let us assume that the energy associated with the system is given as V(e). For the system to remain stable, then derivative of the energy associated with the system must be less than zero (or negative).…”

“…The chattering problem associated with Bang-Bang control is eliminated by integrating the output of the discontinuous controller and also selecting suitable hysteresis boundary layer [16], [17]. The mathematical representation of the sliding mode discontinuous control is represented:…”

“…Hence, exhibits chattering which is undesired oscillations of finite frequency due to practical limitations in ON/OFF switching. However, chattering may be reduced to a satisfactory level by employing a hysteresis boundary [16], [17]. The PID controller generally exhibits offset and overshoot when implemented in position control due to the incrementing action of the integrator.…”

Position Control of Switched Reluctance Motor Using Super Twisting Algorithm

“…The designed scheme contained the integrator to eliminate the steady state error and proved to be good for position tracking application. In [22], sliding mode was combined with PID and fuzzy logic technique to overcome chattering issue and applied this scheme on [23] enhanced the sliding mode with fuzzy logic control to overcome chattering issue and then controller was applied on position control of induction motor. It is shown that the designed controller behaved well in chattering reduction, and fast dynamic response is also achieved.…”

Comparative Study of Optimised Artificial Intelligence Based First Order Sliding Mode Controllers for Position Control of a DC Motor Actuator

“…In [14] the output of a PID controller is used as to establish the sliding surface of a Fuzzy SMC as applied in position control of a DC motor. Thus the controller structure incorporates a parallel control action by PID and Fuzzy logic Sliding mode (PID+FSMC).…”