An adaptive fuzzy sliding mode controller for nonlinear systems with non-symmetric dead-zone and its application to an electro-hydraulic system

TL;DR

This paper introduces an adaptive fuzzy sliding mode controller designed for nonlinear systems with non-symmetric dead-zones, demonstrating improved stability and performance through theoretical analysis and application to an electro-hydraulic system.

Contribution

It presents a novel adaptive fuzzy sliding mode control approach specifically addressing non-symmetric dead-zone nonlinearities in uncertain systems.

Findings

Proven convergence of the control system via Lyapunov stability theory.

Successful application to an electro-hydraulic system with improved control performance.

Abstract

The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed to deal with a class of uncertain nonlinear systems subject to a non-symmetric dead-zone input. The adopted approach is primarily based on the sliding mode control methodology but enhanced by an adaptive fuzzy algorithm to compensate the dead-zone. Using Lyapunov stability theory and Barbalat's lemma, the convergence properties of the closed-loop system are analytically proven. In order to illustrate the controller design methodology, an application of the proposed scheme to an electro-hydraulic system is introduced. The performance of the control system is evaluated by means of numerical simulations.