Adaptive Robust Control: Adaptive Fuzzy Sliding Mode Control Technique

2021 ◽  
pp. 115-145
Author(s):  
Nardênio Almeida Martins ◽  
Douglas Wildgrube Bertol
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Control Technique ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

scholarly journals Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Guo Haigang ◽  
Li Hongxing ◽  
Zhao Weijing ◽  
Song Zhankui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Variable Universe ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Control Schemes ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode

Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.

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