Fuzzy approximation-based adaptive sliding-mode control scheme for underactuated systems

This paper proposes a fuzzy approximation-based adaptive sliding-mode controller for uncertain nonlinear perturbed underactuated systems. The fuzzy logic system is used for approximating the unknown nonlinear functions. For estimating the parameters of the fuzzy systems and some unknown bounds, 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 effectiveness of the proposed fuzzy adaptive controller is illustrated throughout simulation results.

[1]  Xuebo Zhang,et al.  A Motion Planning-Based Adaptive Control Method for an Underactuated Crane System , 2012, IEEE Transactions on Control Systems Technology.

[2]  Abdesselem Boulkroune,et al.  How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems , 2008, Fuzzy Sets Syst..

[3]  Chiang-Cheng Chiang,et al.  Hierarchical fuzzy sliding-mode control for uncertain nonlinear under-actuated systems , 2014, 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE).

[4]  Li-Xin Wang,et al.  Adaptive fuzzy systems and control - design and stability analysis , 1994 .

[5]  Yue Ming,et al.  Disturbance adaptive control for an underactuated spherical robot based on hierarchical sliding-mode technology , 2012, Proceedings of the 31st Chinese Control Conference.

[6]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[7]  An-Chyau Huang,et al.  Adaptive control for a class of underactuated systems with mismatched uncertainties , 2010, Proceedings of the 29th Chinese Control Conference.

[8]  Kuang Shine Yang,et al.  Robust Finite Time Controller Design for Second Order Underactuated Mechanical Systems , 2013 .

[9]  Dongbin Zhao,et al.  Design of a stable sliding-mode controller for a class of second-order underactuated systems , 2004 .

[10]  Salim Labiod,et al.  Direct adaptive fuzzy sliding mode decoupling control for a class of underactuated mechanical systems , 2013 .

[11]  I.I. Hussein,et al.  Optimal Control of Underactuated Nonholonomic Mechanical Systems , 2006, IEEE Transactions on Automatic Control.

[12]  Anthony M. Bloch,et al.  Optimal control of underactuated nonholonomic mechanical systems , 2006, 2006 American Control Conference.

[13]  Jianqiang Yi,et al.  Hierarchical Sliding Mode Control to Swing up a Pendubot , 2007, 2007 American Control Conference.

[14]  Ming Yue,et al.  Adaptive control of an underactuated spherical robot with a dynamic stable equilibrium point using hierarchical sliding mode approach , 2014 .

[15]  Jianqiang Yi,et al.  Robust control using incremental sliding mode for underactuated systems with mismatched uncertainties , 2008, 2008 American Control Conference.

[16]  Le Anh Tuan,et al.  Sliding mode controls of double-pendulum crane systems , 2013 .