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A Lyapunov Analysis For Mamdani Type Fuzzy-Based Sliding Mode Control
A Lyapunov Analysis For Mamdani Type Fuzzy-Based Sliding Mode Control
Short Paper
A Lyapunov Analysis for Mamdani Type Fuzzy-Based Sliding Mode Control
Pablo Jose Prieto-Entenza, Nohe Ramon Cazarez-Castro , Luis T. Aguilar, Selene L. Cardenas-Maciel,
and Jorge Antonio Lopez-Renteria
Abstract—We derive sufficient conditions to guarantee asymptotic sta- main diagonal line (or hyperplane) to an actual state in the plane-phase.
bility for fuzzy-based sliding mode controllers applied to single-input single- The stability is proven by using the Popov criteria but without refer-
output nonlinear systems, made in the framework of the Lyapunov func-
tions. Such conditions also preserve the well-recognized features of both
ring the way to adjust the memberships functions. The concept of a
sliding mode control and Mamdani-type fuzzy control such as robustness sectorial fuzzy controller, introduced by Calcev [1], [7], has been an
and uncertainties treatment. In addition, the rules for tuning the cores of attractive attempt to address the stability analysis for Mamdani-type
membership functions are also found. Real-time experiments, made on a fuzzy controllers.
one-link pendulum, are performed to illustrate and demonstrate the theo- Roughly speaking, Lyapunov stability proof is not well developed
retical results. for Mamdani-type fuzzy controlled systems. In contrast, the Takagi-
Index Terms—Fuzzy control, Lyapunov stability, sliding mode control. Sugeno fuzzy logic results attractive for the academic communities
over the years for its wide results on the matter [2], [3]. In such case,
I. INTRODUCTION
the output variable of a rule is not determined by the max–min rela-
Although fuzzy control can be applied in a diversity of nonlinear tional composition of the Mamdani-type inference but by a mathemati-
systems, the stability analysis has been an open challenge [1]. In par- cal function of the variables of the plant. The stability analysis is carried
ticular, Mamdani-type fuzzy methods have been criticized by the scien- out in the framework of quadratic Lyapunov functions to ensure asymp-
tific communities due to the lack of theoretic foundations on its stability totic stability by solving a set of linear matrix inequalities [8]. However,
analysis [2], [3]. There are many works focused on this matter, but the Takagi-Sugeno systems do not express the expertise of users on con-
results on how to fit the membership functions are ambiguous. trol adjustment [2], [9] and therefore, many industrial applications are
based on Mamdani-type models [2], [10]. Moreover, Lyapunov candi-
A. Literature Overview date functions might not work for many fuzzy functions because of the
Passivity-based methods are used to conclude stability and conver- complexity of nonlinear systems [11].
gence of fuzzy closed-loop systems, but there is not presented an explicit Fuzzy-based sliding mode control (FSMC) has been proposed as
way to adapt the membership functions. Margaliot and Langholtz [4] of- an alternative to reduce chattering. During previous decades exist-
fer a Lyapunov approach where the sign of variables is considered to fix ing literature was focused on introducing “logic decision” in variable
the membership functions to ensure convergence of trajectories to the structure systems [12]. These alternatives consist in substituting the
equilibrium point. However, the sign of variables is not enough neither switching function by a fuzzy inference system. Under the combina-
to tune the membership functions nor to guarantee stability. Moreover, tion of both algorithms can lead to the chattering attenuation and the
the adjustment of the system is still acting on a trial-and-error basis. reduction of the number of rules for the dynamic fuzzy controllers be-
For those reasons, Takagi-Sugeno fuzzy methods have taken signifi- cause a single fuzzy variable contains all dynamic process [13]–[15].
cant interest along the years since the treatment of linear functions has The fuzzy inference system made that the sliding variable reach the
been useful for model-based stability analysis and control design [2]. origin.
Choi, Kwak, and Kim [5], [6] introduce a straightforward and compe- In [14], [16], we present an alternative of FSMC which does not
tent method to reduce the numbers of fuzzy inputs using one fuzzy input require the compensation terms. In those papers, the Mamdani-type
variable instead of the error and change-of-error inputs (process-state fuzzy system has a single input whose output is the control action
variable). This variable, also called signed distance, contains all the state applied to the actuator. The sliding variable represents the input for
variables of the process and represents the geometric distance from the the fuzzy inference system. The main feature is the simplest way
for designing the FSMC as was experimentally demonstrated on a
pneumatic parallel robot.
Manuscript received December 4, 2018; revised May 7, 2019; accepted June
10, 2019. Date of publication June 14, 2019; date of current version August 4, B. Contribution of the Paper
2020. This work was supported in part by the Tecnológico Nacional de México
under Grant 6827.18-P and Grant 5564.19-P and in part by Consejo Nacional This paper aims to demonstrate asymptotic stability, in the frame-
de Ciencia y Tecnología (CONACYT) under Grant 285279. (Corresponding work of Lyapunov functions, of a class of FSMC, inspired in [14], [16]
author: Nohe Ramon Cazarez-Castro.) for solving regulation problems. In [15], we define conditions to prove
P. J. Prieto-Entenza is with the CETYS Universidad, Tijuana 22210, México
(e-mail: pablojprieto@ieee.org). how to achieve the attenuation of chattering by the Mamdani type-fuzzy
N. R. Cazarez-Castro and S. L. Cardenas-Maciel are with the Instituto Tec- inference system based on the describing function method. However,
nologico de Tijuana, Tecnologico Nacional de Mexico, Tijuana 22414, México the robust stability analysis under vanishing matched and unmatched
(e-mail: nohe@tectijuana.edu.mx; selene@tectijuana.edu.mx). disturbances and criteria to set the cores have been left unaddressed.
L. T. Aguilar is with the Instituto Politécnico Nacional, Tijuana 22435, México The main contribution of this paper resides on how to set the mem-
(e-mail: laguilarb@ipn.mx).
bership functions for guaranteeing asymptotic stability in the sense
J. A. Lopez-Renteria is with the CONACYT and Instituto Tecnologico de
Tijuana, Tecnologico Nacional de Mexico, Tijuana 22414, México (e-mail: of Lyapunov which is a comprehensive strategy to conclude stability
jorge.lopez@tectijuana.edu.mx). for nonlinear systems. The obtained results pretend to be a comple-
Digital Object Identifier 10.1109/TFUZZ.2019.2923167 mentary tool for control practitioners interested synthesize fuzzy logic
1063-6706 © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
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1888 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020
controller. We use piecewise Lyapunov functions to verify the stability in spite of external matched uniformly bounded disturbances. Once the
along different boundary regions. To the best of the author’s knowl- states reach the sliding manifold S = {x ∈ Rn : σ(t) = σ̇(t) = 0},
edge, there is no report concerning the parametric adjustment of the the states will exponentially converge to the origin. To illustrate the
membership functions for Mamdani-type fuzzy inference system, so above, the following scalar sliding surface is proposed
the theoretical result will be helpful to improve the performance of the
FSMC in closed-loop systems.
n−1
σ=z+ gi qi = z + Ḡq = Ḡ 1 x (6)
i=1
=G
C. Organization of the Paper
The rest of this paper is organized as follows. Section II introduces where gi are positive constants and Ḡ = [g1 g2 . . . gn−1 ].
an overview on the main and basic concept of the sliding mode control. In the following, we will demonstrate that the sliding mode control
Section III presents a description of the proposed FSMC. The analysis u(t) = −ρ sign(σ) (7)
of robustness is shown in Section IV. Experimental results, made in
a one-link pendulum, in order to verify the stability and convergence with the positive gain ρ, will drive the trajectories toward the sliding
of the fuzzy-sliding mode controller, are given in Section V. Finally, surface in spite of external disturbances. In other words, the sliding
Section VI concludes this paper. mode control (7) will drive the states of the system (1)–(2) to the origin,
that is
II. BACKGROUND IN CONVENTIONAL SLIDING MODE lim x(t) = 0 (8)
CONTROL UNDER MATCHED AND UNMATCHED DISTURBANCES t→∞
For the convenience of the reader, this Section presents the con- for arbitrary initial conditions x(0) ∈ Rn , in spite of the presence of
ventional sliding mode control synthesis and stability for nonlinear external disturbances. Here, sign(σ) ∈ R is the ideal relay, multivalued
single-input single-output affine systems of the form for σ = 0, that is
⎧
q̇ = A11 q + A12 z + wu (q, z, t), (1) ⎪
⎨−1, if σ < 0
sign(σ) = [−1, 1], if σ = 0 (9)
ż = A21 q + A22 z + wm (q, z, t) + bu, (2) ⎪
⎩ 1, if σ > 0.
y = Cx(t), (3)
Reachability is proven by using the following quadratic function
where x(t) = [q(t) z(t)]T ∈ Rn is the state vector consisting by
the states q(t) = [q1 (t) q2 (t) . . . qn−1 (t)]T ∈ Rn−1 and z(t) ∈ R. 1 2
V (σ) = σ (10)
The variable t ∈ R≥0 denotes the time, u(t) ∈ R is the input 2
variable; wu (q, z, t) and wm (q, z, t) represent the unmatched and which is positive definite. The time derivative of V (σ) along the solu-
matched uncertainties, respectively; y(t) ∈ R is the output, and A11 ∈ tion of the closed-loop system (1)–(2), (7) is given by
R(n−1)×(n−1) , A12 ∈ R(n−1)×1 , A21 ∈ R1×(n−1) , and A22 ∈ R are
submatrices of the matrix A ∈ Rn×n , defined as V̇ = σ σ̇ = σ ż + Ḡq̇
A11 A12
A= (4) = σ A21 q + A22 z + bu
A21 A22
which is assumed Hurwitz. The scalar b > 0 is the input constant and
C ∈ R1×n is the output matrix. The matched disturbances appears in + wm (x, t) + Ḡ (A11 q + A12 z + wu (x, t))
the same equation of the control inputs as in (2). Friction forces are
examples of this class of disturbances.
= σ (A21 + ḠA11 )q + (A22 + ḠA12 )z
The following Assumptions are made throughout.
Assumption 1: The pair [A, B], with B = [0 · · · 0 b]T ∈ Rn ,
is controllable. + bu + wm (x, t) + Ḡwu (x, t) . (11)
Assumption 2: The matched and unmatched perturbation vector
w = [wm wu ]T satisfies the linear growth bound, that is, there exist To probe reachability of the set S, we substitute (7) into (11)
positive constants β1 and β2 such that the inequality obtaining
w(q, z, t)2 ≤ β1 q2 + β2 |z| (5)
V̇ = σ (A21 + ḠA11 )q + (A22 + ḠA12 )z − ρb sign(σ)
is satisfied uniformly for all q and all z.
Remark 1: In assumption 2, given any pair of fixed positive real
numbers β1 , β2 = 0, by the Archimedean property applied to the trian- + wm (x, t) + Ḡwu (x, t)
gle inequality (5) for the vector x = [q z]T , there exists a real positive
β0 such that
= − ρb|σ| + σ (A21 + ḠA11 )q + (A22 + ḠA12 )z
β1 q2 + β2 |z| ≤ βx2
for all β ≥ β0 . + wm (x, t) + Ḡwu (x, t)
A. Conventional Sliding Mode Control
≤ − ρb|σ| + A21 + ḠA11 q + |A22 + ḠA12 ||z|
The main idea of the sliding mode control [17] consists in forcing the
dynamic system (1)–(3) toward a discontinuity manifold by specifying a
sliding surface, denoted by the scalar σ(t) ∈ R, and to maintain it there + (1 + Ḡ) β1 q + β2 |z| |σ| (12)
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IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020 1889
where the Assumption 2 have been used. Finally, if ρ is chosen Ui = −U−i and U0 = 0. According to the above, the right-hand side
according to of the control law (16) is represented as follows:
1 Mi (σ)
ρ> A21 + ḠA11 + β1 (1 + Ḡ) q(0) ψ(σ) = p Ui (19)
r=−p Mr (σ)
b
i
then, the trajectories x(t) = [q(t) z(t)]T move toward the sliding sur- Mr (σ) = Mi (σ) + Mi+1 (σ).
r=−p
face σ(t) in finite-time in spite of the presence of external disturbances
w(t) = [wu (t) wm (t)]T ∈ Rn . Since the membership functions for σ(t) and u(t) are triangular and
The equivalent control associated with the dynamic system (1) is singleton fuzzifiers, respectively; the control input (19) is calculated
as [18]
1
ueq = − A21 + ḠA11 q + A22 + ḠA12 z + wm + Ḡwu
b Mi Mi+1
(14) ψ(σ) = p Ui + p Ui+1 (20)
−p Mr (σ) −p Mr (σ)
and the reduced dynamics results in for Φi ≤ σ < Φi+1 .
The following result concerning to the proposed function ψ(σ) is
q̇ = A11 − A12 Ḡ q + wu (q, 0, t). (15)
held.
Consequently, the elements of the matrix gains G must be chosen such Lemma 1 ([1], [18]): The fuzzy input (20) satisfies the following
that the matrix A11 − A12 Ḡ has all eigenvalues with negative real part. properties:
The discontinuous function (9) plays an important role in the robust- i) ψ(σ) is a locally Lipschitz continuous and bounded function.
ness and finite-time stabilization properties of the controlled system. ii) ψ(0) = 0.
However, in practice, undesirable fast switching, also called chattering, iii) ψ(σ) = −ψ(−σ)
is typically produced at the control input and induced at the output once iv) Only two rules are fired at the same time for a σ, that is
the trajectories are inside the set S. For this reason, fuzzy-sliding mode
control was proposed in order, not only to avoid chattering but also to
p
Mr (σ) = Mi (σ) + Mi+1 (σ)
find sufficient condition to guarantee robust stability.
r=−p
σ − Φi+1 σ − Φi
III. FUZZY-BASED SLIDING MODE CONTROL = + =1
Φi − Φi+1 Φi+1 − Φi
Fuzzy-sliding modes represents an alternative control algorithm deal-
ing not only with uncertainties but also with fast switching. Moreover, for Φi ≤ σ < Φi+1 .
sliding manifold reduces the amount of fuzzy variables and rules [13], Property of item i) ensures that the derivative of ψ(σ) exists for all
[14] with respect to conventional fuzzy controllers. σ ∈ R and ψ(σ) does not saturate the control input. Property ii), known
To accelerate the convergence toward the sliding surface and to re- as steady-state property, ensures that the origin is an equilibrium point
move the chattering, without loss the robustness property, a fuzzy in- of the disturbance-free (w = 0 ∈ Rn ) dynamic system (1)–(2), (16).
ference system will be designed to replace the switching control (7). Property iii), also known as an odd condition, means that the input and
Now, u(t) ∈ [umin , umax ] ⊆ R will be directly related to the sliding output variables are covered by an odd number of fuzzy input or output
variable σ(t) through fuzzy rules, being umin and umax the minimum sets, and the odd function ψ(σ) is symmetric with respect to the origin.
and maximum values of u(t), respectively. Property iv) is a typical property for Mamdani rules [18].
Let Thereby, from property iv)
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1890 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020
inequalities
V = xT P x (29)
Fig. 1. Block diagram of the closed-loop system with fuzzy-sliding mode where P is a positive definite symmetric matrix. Then, the time deriva-
control Ψ(σ).
tive of (29) along the trajectories of the closed-loop system (23)–(25)
is
The origin x(t) = 0 is an asymptotically stable equilibrium point if Since Q is a symmetric definite positive matrix, (Ui+1 − Ui )/
the Mamdani-type fuzzy inference system (21) satisfies the following (Φi+1 − Φi ) is a positive scalar, and it is straightforwardly verified
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IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020 1891
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1892 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020
TABLE I
FUZZY RULES BASE
dt x2 − gl sin(x1 + qd ) − fv
x
ml2 2
K
ml2 G
1 0 Now, we will build the rules on the basis of the stability criteria
+ w(x, t) (45)
0 ml1 2 proposed in (28). We consider a fuzzy system with five membership
functions. Besides, the membership functions depicted in Fig. 4, indi-
where w(x, t) = [ẇu wm ]T represents the disturbances. The objective cate that umax = U2 , umin = U−2 , and σ ∈ [Φ−2 Φ2 ].
is to drive the angular position error to the origin, while also attenuating For this proposed fuzzy inference system, the whole universe of
the disturbances. discourse of σ is separated into several subsets aiming to the values
For better clarify the main result of previous section, let us assume that could take u(t) according to the input state. Membership functions
that sin(x1 )
x1 . So, the latter system can be rewritten in the form for input and output linguistic variables are written as negative big (NB),
(23), that is negative middle (NM), zero (ZR), positive middle (PM), and positive
big (PB).
d x1 0 1 x1 0 1) The state NB represents the situation where the sliding variable
= + u(t) σ is too far from the switching surface in negative side.
dt x2 − g − fv x2 K
2
L m
ml
2) The state NM represents the situation where the sliding variable
A B
is in the negative side from the switching surface.
1 0 3) The statement ZR deserves important attention. This one repre-
+ 1 w(x, t). (46)
0 ml2
sents the situation when the sliding variable is in the vicinity of
the sliding surface though a linguistic quantification is not pre-
All eigenvalues of matrix A has negative real part under the parameters cise. In such a way any value around σ = 0 can be accepted since
given in Table I. this can be better quantification, rather than another.
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IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020 1893
U1 U2
Fig. 5. Transfer function characteristics between σ and u(t). (a) Φ1 > Φ2 .
U1 U2
(b) Φ1 = Φ2 .
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1894 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 28, NO. 8, AUGUST 2020
Fig. 8. Angular position and the control input of the pendulum under external
disturbance.
Fig. 9. Angular position of the experimental pendulum driven by fuzzy-sliding
mode control adjusted without satisfying conditions of the Theorem 1 (see
Table III): (a) disturbance-free and (b) perturbed case.
TABLE III
PARAMETERS FOR THE FUZZY SYSTEM VARIABLES NOT SATISFYING
CONDITIONS OF THEOREM 1
because (43) does not assure that (35) and (41) are satisfied and there-
fore, asymptotic stability conditions in the sense of Lyapunov are not
achieved. Fig. 9(a) illustrates that there is not asymptotic convergence
to the reference. Similar case occurs for the perturbed case as can be
seen in Fig. 9(b).
VI. CONCLUSION
A Mamdani-type fuzzy system tune conditions for a fuzzy-sliding
operating points (Φi , Ui ). Fig. 5(a) and (b) shows the transfer function mode control were developed to guarantee asymptotically stability and
when the condition (28) is satisfied. robustness for perturbed linear systems. Both matched and unmatched
Fig. 6 shows the transfer function when the condition (43) is satisfied. disturbances were considered in the analysis. Sufficient conditions to
Table II presents the adjustment for the fuzzy system satisfying the set the cores of membership functions were found and mathematically
above conditions (43). demonstrated, in contrast with previous works which show mathemat-
The fuzzy inference system was performed using the Fuzzy Logic ical considerations without showing a way to adjust the membership
Toolbox. The closed-loop system (16), (44) under rules provided in Ta- functions. Real experiments were successfully developed in a single
ble II was implemented in MATLAB/Simulink where ts = 1 × 10−3 s pendulum, demonstrating the convergence of the position trajectory to
was chosen as the sampling time. Fig. 7 shows the time response of the several desired points, thus corroborating the theoretical results. As was
pendulum position for the free-disturbance case. The pendulum follows emphasized along the paper, neither the dynamic model of the plant nor
several position references without overshoot fulfilling the stability and the knowledge of fuzzy system was required in the synthesis of the ex-
ability to follow the desired positions. Moreover, the control algorithm perimental controller. Finally, the proposed generic and straightforward
has capability to reduce chattering with the absence of mathematical approach pretends to be an important tool for practitioners.
model of the plant.
In order to demonstrate the robustness of the closed-loop system, the
pendulum will be affected under external disturbances were randomly
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