CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
research
Adaptive fuzzy sliding mode control for uncertain nonlinear underactuated mechanical systems
Authors
QP Ha
RMT Raja Ismail
ND That
Publication date
1 January 2013
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
Sliding mode control has been shown to be a robust and effective control approach for stabilization of nonlinear systems. However the dynamic performance of the controller is a complex function of the system parameters, which is often uncertain or partially known. This paper presents an adaptive fuzzy sliding mode control for a class of underactuated nonlinear mechanical systems. An adaptive fuzzy system is used to approximate the uncertain parts of the underactuated system. The adaptive law is designed based on the Lyapunov method. The proof for the stability and the convergence of the system is presented. Robust performance of the adaptive fuzzy sliding mode control is illustrated using a gantry crane system. Simulation results demonstrate that the system output can track the reference signal in the presence of modelling uncertainties, external disturbances and parameter variation. © 2013 IEEE
Similar works
Full text
Available Versions
OPUS - University of Technology Sydney
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:opus.lib.uts.edu.au:10453/...
Last time updated on 13/02/2017