Abstract:
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 r...Show MoreMetadata
Abstract:
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.
Published in: 2009 IEEE International Conference on Fuzzy Systems
Date of Conference: 20-24 August 2009
Date Added to IEEE Xplore: 02 October 2009
ISBN Information:
Print ISSN: 1098-7584