Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study
Joint Authors
Chaari, Abdessattar
Baklouti, Faten
Aloui, Sinda
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-20
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller.
The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws.
The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory.
Two comparative studies are made in this paper.
The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon.
The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system.
The tracking performances of each control law are evaluated.
Simulation examples including different amplitudes of external disturbances are made.
American Psychological Association (APA)
Baklouti, Faten& Aloui, Sinda& Chaari, Abdessattar. 2016. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1107936
Modern Language Association (MLA)
Baklouti, Faten…[et al.]. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study. Journal of Control Science and Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1107936
American Medical Association (AMA)
Baklouti, Faten& Aloui, Sinda& Chaari, Abdessattar. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1107936
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107936