Adaptive fuzzy sliding mode control for MIMO nonlinear system with application to robotic manipulator

摘要：

A class of multiple-input-multiple-output (MIMO) nonlinear system is analysed.Its coupled inputs are treated as uncertainty,thus its every output only depends on one system input,and the MIMO system can be designed as a single-input-single-output (SISO) system.An adaptive fuzzy sliding mode control (AFSMC) technique is developed to design every input of the MIMO nonlinear system.In the AFSMC system,sliding mode controller is designed firstly,and then an adaptive fuzzy controller is introduced into the sliding mode controller to estimate the unknown upper bound of the lumped uncertainty and to guarantee the reaching condition of sliding mode control.Finally,a robotic manipulator is illustrated,and the proposed AFSMC approach is applied to design its control system.The numerical simulations show that the designed AFSMC system has fast tracking speed and good robustness against uncertainties.

关键词： MIMO nonlinear system AFSMC lumped uncertainty robotic manipulator.

作者: Hongchao Zhao Ruchuan Zhang

作者单位: Department of Strategic Missile Engineering,Naval Aeronautical and Astronautical University,Yantai,C Graduate Students Brigade,Naval Aeronautical and Astronautical University,Yantai,China 264001

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）