Chattering Attenuation of Sliding Mode Controller Using Genetic Algorithm and Fuzzy Logic Techniques

Abstract

Sliding Mode Controller design provides a systematic approach to theproblem of maintaining stability and consistent performance in the face of modeling imprecision. The major drawback that sliding mode control suffers from is the chattering phenomenon, which is a zigzag motion along the sliding surface caused by the high frequency motion on the sliding surface. This phenomenon is an undesirable property since it excites unmodeled dynamics and results in tear and wears in the mechanical systems. In this work several methods are proposed toreduce the chattering. One of these methods is to use the boundary layer solution to smooth the hard switching signal. This solution is compared to another one represented by involving the intelligent systems to enhance the performance of the sliding mode controller system like involving the Genetic Algorithm (GA) and thefuzzy tuning technique. GA has proved its efficient ability to attenuate chattering and reduce the hitting time compared to other methods.

Keywords

• sliding mode control
• chattering reduction
• genetic algorithm
• fuzzy logic techniques