Title :
Modeling-error based adaptive fuzzy sliding mode control for trajectory-tracking of nonlinear systems
Author :
Yu, Shuanghe ; Yu, Xinghuo ; Efe, Mehmet Önder
Author_Institution :
Fac. of Informatics & Commun., Central Queensland Univ., Rockhampton, Qld., Australia
Abstract :
A novel adaptive fuzzy sliding mode control design is developed for trajectory tracking of a class of nonlinear systems in this paper. This control design uses the modelling error to adaptively estimate the deterministic uncertainties as well as the control gain based on the fuzzy systems approach. By this design, the bounds of the uncertainties are not required to be known in advance, and the robust stability of closed loop systems is analysed in the Lyapunov sense. Simulation results are given to demonstrate the improved performance.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; fuzzy control; fuzzy systems; nonlinear control systems; position control; stability; tracking; variable structure systems; Lyapunov sense; adaptive fuzzy sliding mode control; closed loop systems; control gain; deterministic uncertainties; fuzzy systems approach; modelling error; nonlinear systems; robust stability; trajectory-tracking; Adaptive control; Adaptive systems; Control design; Fuzzy control; Fuzzy systems; Nonlinear systems; Programmable control; Sliding mode control; Trajectory; Uncertainty;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280726
