Switching Controllers' Synthesis: Combination of a Sliding Mode and H Infinity Control by a Fuzzy Supervisor

Abstract

This paper deals with the synthesis of switching controllers. The tracking trajectory problem, subject to external perturbations for a time variant non linear system is considered. We use a fuzzy supervisor, to switch between two types of controllers: Sliding Mode Control (SMC) and H∝ control. This structure combines the advantage of both controllers to ensure a good tracking performances in both the transient state (SMC) and the steady state (H∝). It provides a fast dynamic response and enlarges the stability limits of the system while reducing the chattering phenomena induced by the SMC. The global stability of the system is then proved by the Lyapunov theory. Some simulation results and constructive conclusions end the paper.