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Adaptive fuzzy sliding mode control for a class of underactuated systems | IEEE Conference Publication | IEEE Xplore

Adaptive fuzzy sliding mode control for a class of underactuated systems


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 More

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.
Date of Conference: 20-24 August 2009
Date Added to IEEE Xplore: 02 October 2009
ISBN Information:
Print ISSN: 1098-7584
Conference Location: Jeju, Korea (South)

References

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