Adaptive fuzzy sliding mode tracking control of uncertain underactuated nonlinear systems: A comparative study
type: Item
instance of: scholarly article
title: Adaptive fuzzy sliding mode tracking control of uncertain underactuated nonlinear systems: A comparative study
zbMATH Open document ID: 1346.93101
DOI: 10.1155/2016/9283103
author: Faten Baklouti
author: Sinda Aloui
author: Abdessattar Chaari
published in: Journal of Control Science and Engineering
publication date: 2016-10-20T00:00:00Z
review text: Summary: The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performance of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93C41
zbMATH DE Number: 6641370
zbMATH Keywords: adaptive fuzzy sliding mode tracking control
zbMATH Keywords: uncertain underactuated nonlinear system
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/9283103
OpenAlex ID: W2478750545
Wikidata QID: Q59126163
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description: scientific article; zbMATH DE number 6641370