A Proposed DC Motor Sliding Mode Position Controller Design using Fuzzy Logic and PID Techniques

Abstract

Due to the robustness of sliding mode controllers (SMCs), especially against model uncertainties and disturbances, and also its ability in controlling nonlinear and multi-input multi-output (MIMO) systems; a DC motor sliding mode position controller design using fuzzy logic (FL) and proportional-integral-derivative (PID) techniques, is proposed in this paper. Also, due to system uncertainties that can lead to chattering phenomena in control law which can excite non-modeled dynamics and may damage the process, different approaches, like intelligent techniques, are used to minimize these effects. In this paper, the FL will be considered in the design of SMC. Also, a PID will be used in the outer loop in the control law then the gains of the sliding term and PID term are tuned on-line by a fuzzy system, so the chattering is avoided and response of system is improved against external load here. Presented simulation results confirm the above proposal and demonstrate the performance improvement to the example of DC motor.