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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wei-Song Lin Chun-Sheng Chen |
| Copyright Year | 2002 |
| Description | Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan (Wei-Song Lin; Chun-Sheng Chen) |
| Abstract | A practical design of fuzzy logic controller is presented in which the sliding mode control method and the adaptive control scheme are properly incorporated to enhance robustness and sliding performance in a class of uncertain MIMO nonlinear systems. The proposed fuzzy controller requires no knowledge of an MIMO nonlinear system and facilitates robust properties by fine-tuning the consequent membership functions. By employing the fuzzy descriptions to overcome the interaction among the subsystem, a fuzzy sliding mode controller is used to approximate the equivalent control in the neighborhood of the switching hyperplane. The hitting control is appended to assure that the fuzzy sliding mode control can achieve a stable closed-loop system through Lyapunov stability theory for the trajectories tracking control of a plant with unknown nonlinear dynamics. Finally, the simulation results of a two-link robotic manipulator confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method. |
| Sponsorship | American Autom. Control Council IFAC SICE |
| Starting Page | 2955 |
| Ending Page | 2960 |
| File Size | 525273 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780372980 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2002.1025241 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2002-05-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Programmable control Adaptive control Fuzzy control Fuzzy systems Nonlinear control systems Control systems Nonlinear systems Sliding mode control Robust control MIMO |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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