Diseño y simulación de controladores SMC con superficies deslizantes móviles empleando técnicas de lógica difusa para mejorar la alcanzabilidad y el desempeño del sistema

Abstract

The sliding mode control is being incorporated more and more in the industry to control linear and non-linear systems because it is a robust controller. This controller has an undesired phenomenon called chattering that decreases the performance of the system. To improve the performance of the sliding mode controller, it’s desired that the state path reaches the sliding surface faster, which results in a shorter settling time of the system. But by quickly reaching the sliding surface, chattering can’t be mitigated. To mitigate the effect of this problem on the performance of the system, the development of sliding mode control using moving sliding surfaces is proposed: rotating, shifting and the combination of both, using fuzzy logic techniques. Additionally, for the control law a first order model with delay is used. The designed controllers will be tested in a linear system and two non-linear ones and the comparison will be made with the traditional sliding mode control through the establishment time and performance indices: ISE, ITSE and the effort of control. The simulations will be developed in Simulink-Matlab® and the results can be visualized in a GUIDE-Matlab® graphic interface.