Cost effective computationally intelligent control - An augmented switching manifold approach

A method for tuning the parameters of a class of intelligent PD controllers is discussed. The aim of the design is to extract a tuning law such that the specifications of the control problem are met and the adjustable parameters evolve bounded. The achievement of these specifications is a challenge in the presence of strong external disturbances, ambiguities in the plant model and nonlinearities, which absolutely require robustness for performance and stability for safety and applicability. The approach introduced in the paper achieves these targets by utilizing the sliding mode control technique based on an augmented switching manifold. The proposed law is applicable to the class of controllers, the output of each member of which is linear in the adjustable parameter set. This stipulates that the application spectrum of the algorithm extends from PID controller to fuzzy controllers and some structures of neural controllers. In the application example, control of a coupled double pendulum system is considered. The dynamic model of the plant is assumed to be unknown and the difficulties introduced by observation noise are studied.