Control for a Class of Uncertain Underactuated Nonlinear Systems

摘要：

Underactuated nonlinear systems with second-order nonholonomic constraints have important applications but not easy to stably control. In the paper, a cascade sliding-mode direct adaptive fuzzy control was proposed step by step for this type of uncertain underactuated nonlinear systems by means of the universal approximation of fuzzy logic systems (FLS) based on Lyapunov stable theory. Theoretical analysis and simulations shows that the designed controller can make this type of systems globally asymptotically stable.

关键词： Uncertain underactuated nonlinear systems cascade sliding-mode direct adaptive fuzzy control

作者: Hongqi Wang

作者单位: School of Electrical Engineering and Automation, Henan Polytechnic University Jiaozuo, 454000, China

会议类型: 国际会议

会议名称: 2011 Eighth International Conference on Fuzzy System and Knowledge Discovery(第八届模糊系统与知识发现国际会议 FSKD 2011)

会议地点: 上海

会议语种:英文

页码: 93-96

在线出版日期: 2011-07-26（万方平台首次上网日期，不代表论文的发表时间）