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논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2024.10
- 수록면
- 1,200 - 1,205 (6page)
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초록· 키워드
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In this paper, adaptive sliding mode control is introduced for underactuated mechanical systems with significant parametric uncertainty using a fuzzy logic approach. The TORA system, often tested as a benchmark for underactuated systems control, serves as the primary focus of this study. To approximate the nonlinear dynamics of the TORA system, a fuzzy basis function is employed, enabling the design of a function-based control system. Additionally, the integration of an adaptive control method enhances the robustness against approximation errors of the fuzzy system. The stability of the proposed control system based on the function approximation was validated using the Lyapunov second theorem, confirming the need for adaptive control. Simulation results demonstrated the effectiveness of the control system under inaccurate models, revealing significant robustness against mismatched errors. Further performance improvements through advanced development of fuzzy systems are also suggested as potential areas for future research.
목차
Abstract
1. INTRODUCTION
2. MATHEMATICAL MODEL OF TORA SYSTEM
3. ADAPTIVE FUZZY SLIDING MODE CONTROL SYSTEM
4. SIMULATION RESULTS
5. CONCLUSIONS
REFERENCES
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