Title :
Control for a class of uncertain underactuated nonlinear systems
Author_Institution :
Sch. of Electr. Eng. & Autom., Henan Polytech. Univ., Jiaozuo, China
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;
Conference_Titel :
Biomedical Engineering and Informatics (BMEI), 2011 4th International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-9351-7
DOI :
10.1109/BMEI.2011.6098778
