论文信息 - Adaptive fuzzy controller for nonlinear uncertain systems

Adaptive fuzzy controller for nonlinear uncertain systems

In this paper, an adaptive fuzzy controller for single-input single-output (SISO) nonlinear systems with higher-order and unmatched uncertainties is provided. The design is based on the principle of sliding mode control, input-output linearizing controller, and the approximation capability of adaptive fuzzy systems. Finally, the suggested controller is applied to a flexible joint robot. Simulation results indicate its efficiency.

Chiang-Cheng Chiang | Chih-Chien Hu

[1] S. Sastry,et al. Adaptive Control: Stability, Convergence and Robustness , 1989 .

[2] L. Fu,et al. Output tracking control of nonlinear systems with mismatched uncertainties , 1992 .

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

[4] L. Fu,et al. Robust output tracking for nonlinear systems with weakly non-minimum phase , 1993 .

[5] J. Slotine,et al. Robust input-output feedback linearization , 1993 .

[6] A. Isidori,et al. Adaptive control of linearizable systems , 1989 .

[7] Li-Xin Wang,et al. Stable adaptive fuzzy control of nonlinear systems , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[8] Tian-Ping Zhang,et al. Decentralized adaptive fuzzy control for large-scale nonlinear systems , 1997, Fuzzy Sets Syst..

[9] A. Isidori. Nonlinear Control Systems , 1985 .