Adaptive fuzzy sliding mode control for a class of underactuated systems

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 con...

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Bibliographic Details
Main Authors: Chung-Chun Kung, Ti-Hung Chen, Liang-Chih Huang
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Adaptive control
Computer simulation
Control system synthesis
Control systems
Fuzzy control
Fuzzy systems
Orbital robotics
Programmable control
Sliding mode control
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Summary: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.
ISSN:1098-7584
DOI:10.1109/FUZZY.2009.5277367