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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.15 No.4
- 발행연도
- 2015.12
- 수록면
- 240 - 250 (11page)
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초록· 키워드
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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.
목차
Abstract
1. Introduction
2. System Description
3. Fuzzy Approximator
4. Adaptive Fuzzy Sliding Mode Control
5. Simulations
6. Conclusions
References
참고문헌 (25)
참고문헌 신청
[학술지(정기간행물)] - Rong Xu / 2008 / Sliding mode control of a class of underactuated systems / Automatica 44 (1) : 233 ~ 241
[학술지(정기간행물)] - R. Olfati-Saber / 2002 / Normal forms for underactuated mechanical systems with symmetry / IEEE Transactions on Automatic Control 47 (2) : 305 ~ 308
[학술지(정기간행물)] - Xin Xin / 2007 / Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis / IEEE Transactions on Robotics 23 (6) : 1277 ~ 1285
[학술지(정기간행물)] - R. Fierro / 1999 / Hybrid control for a class of underactuated mechanical systems / IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 29 (6) : 649 ~ 654
[학술지(정기간행물)] - Ferhun Yorgancioglu / 2010 / Decoupled sliding-mode controller based on time-varying sliding surfaces for fourth-order systems / Expert Systems with Applications 37 (10) : 6764 ~ 6774
[학술지(정기간행물)] - R. Olfati-Saber / 2002 / Normal forms for underactuated mechanical systems with symmetry / IEEE Transactions on Automatic Control 47 (2) : 305 ~ 308
[학술지(정기간행물)] - Xin Xin / 2007 / Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis / IEEE Transactions on Robotics 23 (6) : 1277 ~ 1285
[학술지(정기간행물)] - R. Fierro / 1999 / Hybrid control for a class of underactuated mechanical systems / IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 29 (6) : 649 ~ 654
[학술지(정기간행물)] - Ferhun Yorgancioglu / 2010 / Decoupled sliding-mode controller based on time-varying sliding surfaces for fourth-order systems / Expert Systems with Applications 37 (10) : 6764 ~ 6774
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UCI(KEPA) : I410-ECN-0101-2016-028-002472514