Details

Autor(en) / Beteiligte

• Moussaoui, Soumia
• Boulkroune, Abdesselem
• Vaidyanathan, Sundarapandian
• Volos, Christos

Titel

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.