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Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems
Joint Authors
Haigang, Guo
Weijing, Zhao
Zhankui, Song
Li, Hongxing
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-21, 21 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-12-18
Country of Publication
Egypt
No. of Pages
21
Main Subjects
Abstract EN
Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances.
The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms.
The compensation control terms are used to relax the assumption on fuzzy approximation error.
Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed.
The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances.
The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment.
Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.
American Psychological Association (APA)
Haigang, Guo& Li, Hongxing& Weijing, Zhao& Zhankui, Song. 2012. Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-21.
https://search.emarefa.net/detail/BIM-1029621
Modern Language Association (MLA)
Haigang, Guo…[et al.]. Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems. Mathematical Problems in Engineering No. 2012 (2012), pp.1-21.
https://search.emarefa.net/detail/BIM-1029621
American Medical Association (AMA)
Haigang, Guo& Li, Hongxing& Weijing, Zhao& Zhankui, Song. Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-21.
https://search.emarefa.net/detail/BIM-1029621
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1029621