Adaptive fuzzy sliding mode control for a class of underactuated systems

This paper proposes an adaptive fuzzy sliding-mode controller for a class of underactuated systems. Here, the underactuated system is decoupled into two subsystems, and respectively define a sliding surface for each subsystem. The fuzzy models are applied to estimate the unknown functions of the controlled underactuated system. Then, we will propose the adaptive fuzzy sliding model controller to guarantee the tracking performance. Finally, computer simulations are given to demonstrate the tracking performance of the proposed control strategy.

[1]  Ji-Chang Lo,et al.  Decoupled fuzzy sliding-mode control , 1998, IEEE Trans. Fuzzy Syst..

[2]  Shaocheng Tong,et al.  Fuzzy adaptive sliding-mode control for MIMO nonlinear systems , 2003, IEEE Trans. Fuzzy Syst..

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

[4]  Chung-Chun Kung,et al.  Discrete sliding mode controller design with fast output sampling technique for discrete-time T-S fuzzy system , 2008, 2008 IEEE International Conference on Fuzzy Systems (IEEE World Congress on Computational Intelligence).

[5]  Chung-Chun Kung,et al.  H/spl infin/ tracking-based adaptive fuzzy sliding mode controller design for nonlinear systems , 2007 .

[6]  Mark W. Spong,et al.  Underactuated mechanical systems , 1998 .

[7]  Rong-Jong Wai,et al.  Adaptive stabilizing and tracking control for a nonlinear inverted-pendulum system via sliding-mode technique , 2006, IEEE Trans. Ind. Electron..

[8]  Li-Xin Wang,et al.  A Course In Fuzzy Systems and Control , 1996 .

[9]  Tsung-Chih Lin,et al.  Direct adaptive fuzzy-neural control with state observer and supervisory controller for unknown nonlinear dynamical systems , 2002, IEEE Trans. Fuzzy Syst..

[10]  Chung-Chun Kung,et al.  Observer-based indirect adaptive fuzzy sliding mode control with state variable filters for unknown nonlinear dynamical systems , 2005, Fuzzy Sets Syst..

[11]  Rong-Jong Wai,et al.  Design of Cascade Adaptive Fuzzy Sliding-Mode Control for Nonlinear Two-Axis Inverted-Pendulum Servomechanism , 2008, IEEE Transactions on Fuzzy Systems.

[12]  Jianqiang Yi,et al.  Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems , 2007 .

[13]  Arjan van der Schaft,et al.  Dynamics and control of a class of underactuated mechanical systems , 1999, IEEE Trans. Autom. Control..

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

[15]  Wei Wang,et al.  Cascade sliding-mode controller for large-scale underactuated systems , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

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

[17]  Rong-Jong Wai,et al.  Fuzzy Sliding-Mode Control Using Adaptive Tuning Technique , 2007, IEEE Transactions on Industrial Electronics.