Sie befinden Sich nicht im Netzwerk der Universität Paderborn. Der Zugriff auf elektronische Ressourcen ist gegebenenfalls nur via VPN oder Shibboleth (DFN-AAI) möglich. mehr Informationen...
Fuzzy Adaptive Sliding-Mode Control Scheme for Uncertain Underactuated Systems
Ist Teil von
Advances and Applications in Nonlinear Control Systems, 2016, p.351-367
Ort / Verlag
Cham: Springer International Publishing
Erscheinungsjahr
2016
Quelle
Alma/SFX Local Collection
Beschreibungen/Notizen
This chapter proposes a fuzzy approximation-based adaptive sliding-mode control scheme for uncertain nonlinear perturbed underactuated systems. The underactuated system under study can be modeled by two subsystems. In the controller design, a sliding surface for each subsystem is defined and adaptive fuzzy systems are utilized to online estimate the unknown nonlinear functions. To estimate the fuzzy system parameters, a set of adaptation laws are appropriately designed. The boundedness of all signals of the closed-loop system as well as the asymptotic convergence of the underlying tracking errors to the origin are established based on a Lyapunov analysis. The main contributions of this chapter with respect to the existing works lie in the following: (1) The controller designed is free of model. (2) The stability analysis of the corresponding closed-loop system is rigorously proven by using some mild assumptions. (3) The uncertain interconnected terms are eliminated by appropriately designing a novel dynamic robust compensator. The effectiveness and robustness of the proposed adaptive fuzzy adaptive controller is illustrated through two simulation case studies taken from the underactuated system control literature.