Control for a class of uncertain underactuated nonlinear systems

Author

Wang, Hongqi

Author_Institution

Sch. of Electr. Eng. & Autom., Henan Polytech. Univ., Jiaozuo, China

Volume

4

fYear

2011

fDate

15-17 Oct. 2011

Firstpage

2250

Lastpage

2253

Abstract

Underactuated nonlinear systems with second-order nonholonomic constraints have important applications but not easy to stably control. In the paper, a cascade sliding-mode direct adaptive fuzzy control was proposed step by step for this type of uncertain underactuated nonlinear systems by means of the universal approximation of fuzzy logic systems (FLS) based on Lyapunov stable theory. Theoretical analysis and simulations shows that the designed controller can make this type of systems globally asymptotically stable.

Keywords

Lyapunov methods; adaptive control; asymptotic stability; cascade control; control system synthesis; fuzzy control; nonlinear control systems; uncertain systems; variable structure systems; FLS; Lyapunov stable theory; cascade sliding-mode direct adaptive fuzzy control; designed controller; fuzzy logic systems; globally asymptotically stable; second-order nonholonomic constraints; stably control; theoretical analysis; uncertain underactuated nonlinear systems; universal approximation; Adaptive systems; Approximation methods; Cranes; Fuzzy control; Nonlinear systems; Process control; Uncertainty; Uncertain underactuated nonlinear systems; cascade sliding-mode; direct adaptive fuzzy control;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Engineering and Informatics (BMEI), 2011 4th International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-9351-7

Type

conf

DOI

10.1109/BMEI.2011.6098778

Filename

6098778