Study on a Combined Scheme by Using T-S Fuzzy and TSMC Approaches

Abstract

This study investigates the hybrid design by using the Takagi-Sugeno (T-S) fuzzy system modeling method and the Terminal Sliding Mode Control (TSMC) technique. The combined scheme is shown to have the merits of both approaches. The presented scheme can alleviate the on-line computational burden because T-S fuzzy model can approximate the original nonlinear system and some of the parameters can be off-line computed. Moreover, it can also preserve the advantages of TSMC, including rapid response, robustness to uncertainties and/or external disturbance, and guaranteeing the fast finite-time state convergence. The proposed method is applied to a two-link robot manipulator dynamics, and it is also compared to the combination of T-S fuzzy system and conventional Sliding Mode Control (SMC) design. Simulation results demonstrate the benefits of the proposed scheme.