Adaptive fuzzy sliding mode control for uncertain nonlinear underactuated mechanical systems

Raja Ismail, RMT; That, ND; Ha, QP

Adaptive fuzzy sliding mode control for uncertain nonlinear underactuated mechanical systems

Raja Ismail, RMT That, ND Ha, QP

Permalink

Publication Type:: Conference Proceeding
Citation:: 2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013, 2013, pp. 212 - 217
Issue Date:: 2013-01-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (393.12 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Raja Ismail, RMT	en_US
dc.contributor.author	That, ND	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013, 2013, pp. 212 - 217	en_US
dc.identifier.isbn	9781479905720	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27998
dc.description.abstract	Sliding mode control has been shown to be a robust and effective control approach for stabilization of nonlinear systems. However the dynamic performance of the controller is a complex function of the system parameters, which is often uncertain or partially known. This paper presents an adaptive fuzzy sliding mode control for a class of underactuated nonlinear mechanical systems. An adaptive fuzzy system is used to approximate the uncertain parts of the underactuated system. The adaptive law is designed based on the Lyapunov method. The proof for the stability and the convergence of the system is presented. Robust performance of the adaptive fuzzy sliding mode control is illustrated using a gantry crane system. Simulation results demonstrate that the system output can track the reference signal in the presence of modelling uncertainties, external disturbances and parameter variation. © 2013 IEEE.	en_US
dc.relation.ispartof	2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013	en_US
dc.relation.isbasedon	10.1109/ICCAIS.2013.6720556	en_US
dc.title	Adaptive fuzzy sliding mode control for uncertain nonlinear underactuated mechanical systems	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Nha Trang, Vietnam	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Sliding mode control has been shown to be a robust and effective control approach for stabilization of nonlinear systems. However the dynamic performance of the controller is a complex function of the system parameters, which is often uncertain or partially known. This paper presents an adaptive fuzzy sliding mode control for a class of underactuated nonlinear mechanical systems. An adaptive fuzzy system is used to approximate the uncertain parts of the underactuated system. The adaptive law is designed based on the Lyapunov method. The proof for the stability and the convergence of the system is presented. Robust performance of the adaptive fuzzy sliding mode control is illustrated using a gantry crane system. Simulation results demonstrate that the system output can track the reference signal in the presence of modelling uncertainties, external disturbances and parameter variation. © 2013 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/27998