Decoupled Fuzzy Adaptive Sliding Mode Control for Under-Actuated Systems with Mismatched Uncertainties

摘要：

This paper presents a decoupled sliding mode controller with fuzzy logic adaptive tuner for a class of under actuated systems with mismatched uncertainties. By using the concept of hierarchical decoupling method, the coupled nonlinear system can be decoupled into several subsystems. Each subsystem has a separate control target expressed in terms of a sliding surface. From sliding surface of subsystems, we can organize a sliding surface which includes all sliding surfaces for each sub systems. To design control law, adaptive fuzzy inference scheme is used to approximate the unknown coupling factors. With Lyapunov stability theory and barbalat’s lemma, the entire closed loop system is proved to be stable and convergence properties of the system is assured. Simulation results have shown the validity of the proposed approach and its robustness for uncertainties.

关键词： sliding mode control fuzzy adaptive law decoupling control robust control

作者: Seung-Yong Shin Joon-Yong Lee Masanori Sugisaka Ju-Jang Lee

作者单位: Dept. of Electrical Engineering,KAIST 335Gwahangno,Yusung-gu,Daejeon,Korea Dept. of Mechanical and Electrical Engineering,Nippon Bunri University1727 Oaza Itiki,Oita,870-0397,

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）