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) |
1 | R. Xu and U. Ozguner, "Sliding mode control of a class of underactuated system," Automatica, vol. 44, no. 1, pp. 233-241, 2008. http://dx.doi.org/10.1016/j.automatica.2007.05.014 DOI |
2 | R. Olfati-Saber, "Normal forms for underactuated mechanical systems with symmetry," IEEE Transactions on Automatic Control, vol. 47, no. 2, pp. 305-308, 2002. http://dx.doi.org/10.1109/9.983365 DOI |
3 | X. Xin and M. Kaneda, "Swing-up control for a 3-DOF gymnastic robot with passive first joint: design and analysis," IEEE Transactions on Robotics, vol. 23, no. 6, pp. 1277-1285, 2007. http://dx.doi.org/10.1109/tro.2007.909805 DOI |
4 | R. Fierro, F. L. Lewis, and A. Lowe, "Hybrid control for a class of underactuated mechanical systems," IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 29, no. 6, pp. 649-654, 1999. http://dx.doi.org/10.1109/3468.798069 DOI |
5 | F. Yorgancioglu and H. Komurcugil, "Decoupled slidingmode controller based on time-varying sliding surfaces for fourth-order systems," Expert Systems with Applications, vol. 37, no. 10, pp. 6764-6774, 2010. http://dx.doi.org/10.1016/j.eswa.2010.03.049 DOI |
6 | L. W. Lee and I. H. Li, "A Fourier series-based adaptive sliding-mode controller for nonlinear pneumatic servo systems," in Proceedings of 2010 IEEE International Conference on Fuzzy Systems, Barcelona, 2010, pp. 1-5. http://dx.doi.org/10.1109/FUZZY.2010.5584533 DOI |
7 | D. W. Kim, H. W. Yang, J. S. Yoon, and H. P. Kim, "Decoupled adaptive fuzzy sliding-mode control," in Proceedings of 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Banff, Canada, 2001, pp. 96-101. http://dx.doi.org/10.1109/CIRA.2001.1013179 DOI |
8 | Y. J. Mon and C. M. Lin, "Hierarchical fuzzy sliding-mode control," in Proceedings of 2002 IEEE International Conference on Fuzzy Systems, Honolulu, HI, 2002, pp. 656-661. http://dx.doi.org/10.1109/FUZZ.2002.1005070 DOI |
9 | D. Qian, J. Yi, and D. Zhao, "Robust control using sliding mode for a class of under-actuated systems with mismatched uncertainties," in Proceedings of 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, 2007, pp. 1449-1454. http://dx.doi.org/10.1109/ROBOT.2007.363188 DOI |
10 | C. M. Lin and Y. J. Mon, "Decoupling control by hierarchical fuzzy sliding-mode controller," IEEE Transactions on Control Systems Technology, vol. 13, no. 4, pp. 593-598, 2005. http://dx.doi.org/10.1109/TCST.2004.843130 DOI |
11 | L. Marton, A. S. Hodel, B. Lantos, and J. Y. Hung, "Underactuated robot control: comparing LQR, subspace stabilization, and combined error metric approaches," IEEE Transactions on Industrial Electronics, vol. 55, no. 10, pp. 3724-3730, 2008. http://dx.doi.org/10.1109/TIE.2008.923285 DOI |
12 | S. Y. Shin, J. Y. Lee, M. Sugisaka, and J. J. Lee, "Decoupled fuzzy adaptive sliding mode control for underactuated systems with mismatched uncertainties," in Proceedings of 2010 IEEE International Conference on Information and Automation, Harbin, China, 2010, pp. 599-604. http://dx.doi.org/10.1109/ICINFA.2010.5512406 DOI |
13 | H. F. Ho, Y. K. Wong, and A. B. Rad, "Adaptive fuzzy sliding mode control with chattering elimination for nonlinear SISO systems," Simulation Modelling Practice and Theory, vol. 17, no. 7, pp. 1199-1210, 2009. http://dx.doi.org/10.1016/j.simpat.2009.04.004 DOI |
14 | J. C. Lo and Y. H. Kuo, "Decoupled fuzzy sliding-mode control," IEEE Transactions on Fuzzy Systems, vol. 6, no. 3, pp. 426-435, 1998. http://dx.doi.org/10.1109/91.705510 DOI |
15 | M. S. Park, D. Chwa, and S. K. Hong, "Decoupling control of a class of underactuated mechanical systems based on sliding mode control," in Proceedings of SICE-ICASE International Joint Conference, Busan, Korea, 2006, pp. 806-810. http://dx.doi.org/10.1109/SICE.2006.315338 DOI |
16 | L. C. Hung and H. Y. Chung, "Decoupled sliding-mode with fuzzy-neural network controller for nonlinear systems," International Journal of Approximate Reasoning, vol. 46, no. 1, pp. 74-97, 2007. http://dx.doi.org/10.1016/j.ijar.2006.08.002 DOI |
17 | L. X. Wang, A Course in Fuzzy Systems and Control. Upper Saddle River, NJ: Prentice-Hall, 1997. |
18 | J. L. Castro, "Fuzzy logic controllers are universal approximators," IEEE Transactions on Systems, Man and Cybernetics, vol. 25, no. 4, pp. 629-635, 1995. http://dx.doi.org/10.1109/21.370193 DOI |
19 | L. X. Wang, "Stable adaptive fuzzy control of nonlinear systems," IEEE Transactions on Fuzzy Systems, vol. 1, no. 2, pp. 146-155, 1993. http://dx.doi.org/10.1109/91.227383 DOI |
20 | J. A. Farrell and M. M. Polycarpou, Adaptive Approximation Based Control: Unifying Neural, Fuzzy and Traditional Adaptive Approximation Approaches. Hoboken, NJ: Wiley, 2006. |
21 | Y. C. Hsueh, S. F. Su, C.W. Tao, and C. C. Hsiao, "Robust L2-gain compensative control for direct-adaptive fuzzycontrol-system design," IEEE Transactions on Fuzzy Systems, vol. 18, no. 4, pp. 661-673, 2010. http://dx.doi.org/10.1109/tfuzz.2010.2045761 DOI |
22 | Y. C. Hsueh and S. F. Su, "Learning error feedback design of direct adaptive fuzzy control systems," IEEE Transactions on Fuzzy Systems, vol. 20, no. 3, pp. 536-545, 2011. http://dx.doi.org/10.1109/TFUZZ.2011.2178854 DOI |
23 | J. Cao, X. Ji, P. Li, and H. Liu, "Design of adaptive interval type-2 fuzzy control system and its stability analysis," International Journal of Fuzzy Systems, vol. 13, no. 4, pp. 334-343, 2011. |
24 | C. H. Lee and H. Y. Hsueh, "Observer-based adaptive control for a class of nonlinear non-affine systems using recurrent-type fuzzy logic systems," International Journal of Fuzzy Systems, vol. 15, no. 1, pp. 55-65, 2013. |
25 | Y. C. Hsueh and S. Shun-Feng, "Direct adaptive fuzzy decoupled sliding control for a class of under-actuated uncertain systems," in Proceedings of 2011 International Conference on Machine Learning and Cybernetics, Guilin, China, 2011, pp. 226-231. http://dx.doi.org/10.1109/ICMLC.2011.6016703 DOI |