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Fuzzy Finite-Time Sliding Mode Control of Euler-Lagrange Systems with State/Error Constraints

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Abstract

This paper studies the fuzzy finite-time nonsingular terminal sliding mode (FTNTSM) control problem for state/error-constrained and uncertain Euler-Lagrange systems with several contributions: (1) a modified FTNTSM manifold is designed to ensure finite-time stabilization of error dynamics and prescribed tracking accuracy; (2) a new barrier Lyapunov function (BLF) candidate, not only intended for sliding mode control design, but also devoted to constraint satisfaction, is constructed. The BLF candidate is a universal one, as it works uniformly for both constrained and unconstrained systems without changing the control structure; and (3) a fuzzy logic system is employed to dynamically compensate modeling inaccuracies and external disturbances. Meanwhile, a terminal dynamics-based gradient descent algorithm with an accelerated learning process is established to train the weight online. Numerical simulations on a robot manipulator demonstrate the theoretical findings.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant 62122046 and Grant 61973204.

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Authors and Affiliations

  1. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yang Wu & Dengping Duan

  2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Yueying Wang & Min Cheng

  3. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

    Huaicheng Yan

Authors
  1. Yang Wu
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  2. Yueying Wang
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  3. Min Cheng
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  4. Huaicheng Yan
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  5. Dengping Duan
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Correspondence to Yang Wu.

Appendix A Implementation Steps

Appendix A Implementation Steps

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Wu, Y., Wang, Y., Cheng, M. et al. Fuzzy Finite-Time Sliding Mode Control of Euler-Lagrange Systems with State/Error Constraints. Int. J. Fuzzy Syst. 24, 2982–2999 (2022). https://doi.org/10.1007/s40815-022-01315-x

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