International Journal of Fuzzy Logic and Intelligent Systems

  • 제15권4호
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  • Pages.240-250
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  • 2015
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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Direct Adaptive Fuzzy Sliding Mode Control for Under-actuated Uncertain Systems

  • Su, Shun-Feng (Department of Electrical Engineering, National Taiwan University of Science and Technology) ;
  • Hsueh, Yao-Chu (Department of Electrical Engineering, National Taiwan University of Science and Technology) ;
  • Tseng, Cio-Ping (Department of Electrical Engineering, National Taiwan University of Science and Technology) ;
  • Chen, Song-Shyong (Department of Information and Networking Technology, Hsiuping University of Science and Technology) ;
  • Lin, Yu-San (National Chung-Shan Institute of Science and Technology)
  • 투고 : 2015.12.01
  • 심사 : 2015.12.25
  • 발행 : 2015.12.25
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초록

The development of the control algorithms for under-actuated systems is important. Decoupled sliding mode control has been successfully employed to control under-actuated systems in a decoupling manner with the use of sliding mode control. However, in such a control scheme, the system functions must be known. If there are uncertainties in those functions, the control performance may not be satisfactory.In this paper, the direct adaptive fuzzy sliding mode control is employed to control a class of under-actuated uncertain systems which can be regarded as a combination of several subsystems with one same control input. By using the hierarchical sliding control approach, a sliding control law is derived so as to make every subsystem stabilized at the same time. But, since the system considered is assumed to be uncertain, the sliding control law cannot be readily facilitated. Therefore, in the study, based on Lyapunov stable theory a fuzzy compensator is proposed to approximate the uncertain part of the sliding control law. From those simulations, it can be concluded that the proposed compensator can indeed cope with system uncertainties. Besides, it can be found that the proposed compensator also provide good robustness properties.

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참고문헌

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