Abstract
In this paper, the $$H_\infty $$ reliable control problem is investigated for a class of nonlinear singular systems subject to external disturbance and actuator faults and saturations. By means of the Takagi–Sugeno fuzzy model to describe the nonlinear plant, a reliable sliding-mode control scheme is built to compensate for the impact of aforementioned factors on system stability and performance. First, a fuzzy integral sliding function is designed and sufficient conditions are derived such that the sliding-mode dynamics is robustly admissible and satisfies the pre-specified $$H_\infty $$ disturbance attenuation requirement. Then, by considering the saturation as nonlinear input, an adaptive sliding-mode control law is synthesized to ensure reachability of the specified sliding surface. Finally, the lower-limb rehabilitation system is exploited to validate the effectiveness of the presented controller design methodology.
Sign-in/Register to access full text options 
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.
