Control por modos deslizantes basado en proxy activo con rechazo a perturbaciones mediante observador difuso de estado extendido

Pablo José Prieto-Entenza; Corina  Plata-Ante; Luis Nestor Coria-de los Ríos; Ramón  Ramírez-Villalobos; Octavio Augusto García-Alarcón; Jesus Antonio Camacho-Gonzalez

doi:10.29057/icbi.v12iEspecial2.12289

Pablo José Prieto-Entenza CETYS Universidad https://orcid.org/0009-0001-3612-4262
Corina Plata-Ante Tecnológico Nacional de México https://orcid.org/0000-0002-6453-9529
Luis Nestor Coria-de los Ríos Tecnológico Nacional de México https://orcid.org/0000-0002-1219-0433
Ramón Ramírez-Villalobos Instituto Tecnológico de Tijuana https://orcid.org/0000-0001-9506-5613
Octavio Augusto García-Alarcón Tecnológico Nacional de México https://orcid.org/0000-0002-0951-4476
Jesus Antonio Camacho-Gonzalez CETYS Universidad https://orcid.org/0000-0002-5172-2754

DOI: https://doi.org/10.29057/icbi.v12iEspecial2.12289

Keywords: Proxy-based sliding mode, Extended state observer, Mamdani-type fuzzy system

Abstract

This paper presents the proxy-based sliding mode control, a methodology focused for second-order systems. In this proposal, in the control loop we use an fuzzy extended state observer based on Mandami-type inference system, in order to estimate external disturbances and provide it to the controller with the aim of attenuating the influence of external disturbances. To corroborate the obtained results, we introduce numerical simulation of proxy-based sliding mode controller interconnected with fuzzy extended state observer applied to a single pendulum.

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