Adaptive Fuzzy Sliding-Mode Control of Uncertain Nonlinear System

DOI

10.2991/meici-15.2015.124How to use a DOI?

Keywords

Adaptive control; Sliding-mode control; Nonlinear system; Uncertain system; Fuzzy control

Abstract

This paper presents an adaptive sliding-mode control algorithm for uncertain nonlinear system. It is very difficult to obtain the exact knowledge and it is required to approximate an unmolded dynamics with a nonlinear component. Therefore, a fuzzy basis function network is applied to approximate the unknown dynamics of nonlinear system. The paper employs a weight factor to adjust the ratio of direct and indirect adaptive fuzzy control, meantime a supervisory controller is introduced and a sliding-mode controller is to ensure optimal tracking performance of the closed-loop system. To prevent the system state variables unpredictable, this paper designs an observer to estimate the unpredictable states. The control structure and learning rules are derived from a Lyapunov theory extension that guarantees both tracking errors and parameter estimate errors in the closed-loop system are bounded. A two-arm robot is simulated to verify the feasibility of the proposed control scheme.

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 Wu
AU  - Gang Xu
AU  - Xiangchun Chen
PY  - 2015/06
DA  - 2015/06
TI  - Adaptive Fuzzy Sliding-Mode Control of Uncertain Nonlinear System
BT  - Proceedings of the 2015 International Conference on Management, Education, Information and Control
PB  - Atlantis Press
SP  - 707
EP  - 711
SN  - 1951-6851
UR  - https://doi.org/10.2991/meici-15.2015.124
DO  - 10.2991/meici-15.2015.124
ID  - Zheng2015/06
ER  -