Abstract
Underactuated nonlinear systems with second-order nonholonomic constraints have important applications but not easy to stably control. In the paper, a cascade sliding-mode direct adaptive fuzzy control was proposed step by step for this type of uncertain underactuated nonlinear systems by means of the universal approximation of fuzzy logic systems (FLS) based on Lyapunov stable theory. Theoretical analysis and simulations shows that the designed controller can make this type of systems globally asymptotically stable.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
