1,355 research outputs found
A Novel Fuzzy Logic Based Adaptive Supertwisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding
Mode Controller for the control of dynamic uncertain systems. The proposed
controller combines the advantages of Second order Sliding Mode Control, Fuzzy
Logic Control and Adaptive Control. The reaching conditions, stability and
robustness of the system with the proposed controller are guaranteed. In
addition, the proposed controller is well suited for simple design and
implementation. The effectiveness of the proposed controller over the first
order Sliding Mode Fuzzy Logic controller is illustrated by Matlab based
simulations performed on a DC-DC Buck converter. Based on this comparison, the
proposed controller is shown to obtain the desired transient response without
causing chattering and error under steady-state conditions. The proposed
controller is able to give robust performance in terms of rejection to input
voltage variations and load variations.Comment: 14 page
Asymptotic Tracking Control of Uncertain MIMO Nonlinear Systems with Less Conservative Controllability Conditions
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is
nontrivial to achieve asymptotic tracking, and most existing methods normally
demand certain controllability conditions that are rather restrictive or even
impractical if unexpected actuator faults are involved. In this note, we
present a method capable of achieving zero-error steady-state tracking with
less conservative (more practical) controllability condition. By incorporating
a novel Nussbaum gain technique and some positive integrable function into the
control design, we develop a robust adaptive asymptotic tracking control scheme
for the system with time-varying control gain being unknown its magnitude and
direction. By resorting to the existence of some feasible auxiliary matrix, the
current state-of-art controllability condition is further relaxed, which
enlarges the class of systems that can be considered in the proposed control
scheme. All the closed-loop signals are ensured to be globally ultimately
uniformly bounded. Moreover, such control methodology is further extended to
the case involving intermittent actuator faults, with application to robotic
systems. Finally, simulation studies are carried out to demonstrate the
effectiveness and flexibility of this method
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