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Adaptive Fuzzy Sliding Mode Control of Under-actuated Nonlinear Systems

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Abstract

A new extension of the conventional adaptive fuzzy sliding mode control (AFSMC) scheme, for the case of under-actuated and uncertain affine multiple-input multiple-output (MIMO) systems, is presented. In particular, the assumption for non-zero diagonal entries of the input gain matrix of the plant is relaxed. In other words, the control effect of one actuator can propagate from a subgroup of canonical state equations to the rest of equations in an indirect sense. The asymptotic stability of the proposed AFSM control method is proved using a Lyapunov-based methodology. The effectiveness of the proposed method for the case of under-actuated systems is investigated in the presence of plant uncertainties and disturbances, through simulation studies.

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Authors and Affiliations

  1. School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

    Amir Hossein Davaie Markazi, Mohammad Maadani, Seyed Hassan Zabihifar & Nafiseh Doost-Mohammadi

Authors
  1. Amir Hossein Davaie Markazi
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  2. Mohammad Maadani
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  3. Seyed Hassan Zabihifar
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  4. Nafiseh Doost-Mohammadi
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Corresponding author

Correspondence to Seyed Hassan Zabihifar.

Additional information

Recommended by Associate Editor Chandrasekhar Kambhampati

Amir Hossein Davaie Markazi received the Ph.D. degree in mechanical engineering from Mechanical Engineering Department, McGill university, Canada in 1995. He is a professor at Iran University of Since and Technology Iran. He is the Editor-in-Chief of International Journal of Engineering Science.

His research interests include adaptive fuzzy siding mode control (AFSMC), control of chaotic systems, control of parallel robots, networked control systems and wavelet pattern recognition.

Mohammad Maadani received the B. Sc. degree in mechanical engineering from Amirkabir University of Technology (Tehran Polytechnic), Iran in 2009, the M. Sc. degree in mechanical engineering from Iran University of Science and Technology, Iran in 2011.

His research interests include adaptive control, nonlinear dynamics and control.

Seyed Hassan Zabihifar received the B. Sc. and M. Sc. degrees in mechanical engineering and mechatronic respectively from Iran University of Since and Technology, Iran in 2012. He is currently a Ph.D. degree candidate in mechatronic and robotic systems in Bauman Moscow State Technical University (BMSTU), Russia.

His research interests include nonlinear control, adaptive fuzzy sliding mode, adaptive neural network, and optimal control.

Nafise Doost-Mohammadi received the M. Sc. degree in mechanical engineering from Iran University of Since and Technology, Iran in 2011.

Her research interests include nonlinear control, adaptive fuzzy sliding mode and fuzzy control systems.

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Markazi, A.H.D., Maadani, M., Zabihifar, S.H. et al. Adaptive Fuzzy Sliding Mode Control of Under-actuated Nonlinear Systems. Int. J. Autom. Comput. 15, 364–376 (2018). https://doi.org/10.1007/s11633-017-1108-5

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