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Sliding Mode Control with Adaptive Fuzzy Immune Feedback Reaching Law

Chenchen Sun, Guofang Gong*, and Huayong Yang
International Journal of Control, Automation, and Systems, vol. 18, no. 2, pp.363-373, 2020

Abstract : In this paper, a novel adaptive fuzzy immune feedback reaching law (AFIFRL) based sliding mode control (SMC) strategy is proposed for uncertain nonlinear systems with time-varying disturbances. First, a nonlinear immune feedback reaching law (IFRL) inspired by biological immune feedback regulation mechanism is designed to alleviate chattering effect without losing the robustness against disturbances. Second, an improved IFRL is developed in a thin boundary layer to enhance tracking performance. Then, the applied fuzzy controller adjusts the boundary layer online to further improve control performance despite large system uncertainties and disturbances. Furthermore, an adaptive law is employed to estimate the unknown bound of uncertainties, which can effectively attenuate chattering and minimize control effort. The stability analysis is derived by Lyapunov stability theorem. Finally, numerical simulations are conducted to evidence the effectiveness and superiority of the proposed AFIFRL based SMC scheme.

Keyword : Adaptive control, biological immune mechanisms, chattering elimination, fuzzy logic, immune feedback reaching law, sliding mode control.

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