Design of Adaptive Sliding-Mode Controller for Nonlinear System with Modeling Uncertainties

DOI

10.2991/meic-15.2015.257How to use a DOI?

Keywords

adaptive control; robotic dynamic systems; fuzzy basis function networks(FBFN); sliding-mode control; uncertain nonliear system

Abstract

The robot manipulators is a complicated uncertain nonlinear system, mainly due to the nonlinear and coupled character of system equations and the lack of a precise model for the dynamics and parameters, as well as the appearance of internal and external perturbations. A new control algorithm was proposed for the above-mentioned problem. Methods: According to the general model for the robotic system and the sliding-mode control theory, the corresponding control law was designed. For many reasons, there always exists discrepancy between nominal and actual mode. As the FBFN(Fuzzy Basis Function Networks) can approximate any function in the continuous course with arbitrary accuracy, it was applied to approximate the uncertainty of the system, and the parameters were updated by the adaptive law. Based on the theory of Lyapunov stability, the stability of the adaptive controller was given with a sufficient condition. Results: The tracking error was convergent to the switching surface in finite time. Conclusion: The simulation results demonstrate the good performance of the proposed controller.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wenda Zheng
AU  - Gang Xu
AU  - Gang Wu
AU  - Junxiang Ding
PY  - 2015/04
DA  - 2015/04
TI  - Design of Adaptive Sliding-Mode Controller for Nonlinear System with Modeling Uncertainties
BT  - Proceedings of the 2015 International Conference on Mechatronics, Electronic, Industrial and Control Engineering
PB  - Atlantis Press
SP  - 1132
EP  - 1135
SN  - 2352-5401
UR  - https://doi.org/10.2991/meic-15.2015.257
DO  - 10.2991/meic-15.2015.257
ID  - Zheng2015/04
ER  -