Fuzzy aggregated hierarchical sliding mode control for underactuated systems

This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the sliding surfaces is designed. The control law is deduced from the Lyapunov direct method. The stability of the inner sliding surfaces is proven. By fusing the priori knowledge about the class of systems, a fuzzy logic is designed to regulate the controller´s gain. Finally, simulation results show the validity of the proposed approach through control problems of two typical underactuated systems.