Adaptive Fuzzy Sliding Mode Control for MIMO Nonlinear System with Application to Robotic Manipulator
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.
MIMO nonlinear system AFSMC Lumped uncertainty Robotic manipulator
Hongchao Zhao Ting Wang Zhiyong Yang
Faculty 703, Naval Aeronautical and Astronautical University, Yantai, China, 264001
国际会议
The Third International Conference on Modelling and Simulation(第三届国际建模、计算、仿真、优化及其应用学术会议 ICMS 2010)
无锡
英文
155-159
2010-06-04（万方平台首次上网日期，不代表论文的发表时间）