Direct adaptive fuzzy sliding mode control with variable universe fuzzy switching term for a class of MIMO nonlinear systems
type: Item
instance of: scholarly article
title: Direct adaptive fuzzy sliding mode control with variable universe fuzzy switching term for a class of MIMO nonlinear systems
zbMATH Open document ID: 1264.93120
DOI: 10.1155/2012/543039
author: Guo Haigang
author: Li Hongxing
author: Zhao Weijing
author: Song Zhankui
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93B12
zbMATH DE Number: 6173374
Wikidata QID: Q58912069
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/543039
OpenAlex ID: W2110054897
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description: scientific article; zbMATH DE number 6173374