Title :
A direct adaptive fuzzy SMC-a case study of ROV
Author :
Trebi-Ollennu, A. ; Stacey, B.A. ; White, B.A.
Author_Institution :
R. Mil. Coll. of Sci., Cranfield, UK
Abstract :
Fuzzy logic control (FLC) has been applied successfully to many practical problems. Nevertheless, it is viewed with some scepticism, since it does not share the formality of conventional control techniques. It is the purpose of this paper to build on the framework of adaptive fuzzy systems developed by Wang Lin-Xin (1992, 1994), by combining it with sliding mode control (SMC), thereby eliminating some of the limitations of SMC and adaptive fuzzy systems by incorporating the merits of both techniques. Lyapunov´s direct method is used to show that an approximate controller can result in a closed-loop system which is stable. The technique developed is applied to a MIMO ROV
Keywords :
Lyapunov methods; adaptive control; closed loop systems; fuzzy control; stability; telecontrol; variable structure systems; vehicles; Lyapunov´s direct method; MIMO ROV; adaptive fuzzy systems; closed-loop system; direct adaptive fuzzy SMC; fuzzy logic control; sliding mode control; Adaptive control; Adaptive systems; Computer aided software engineering; Control systems; Fuzzy control; Fuzzy systems; Programmable control; Remotely operated vehicles; Sliding mode control; Uncertainty;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.409950
