Abstract
AbstractIn this paper, a robust adaptive fuzzy controller which combines the sliding mode control with an adaptive Proportional Integral (PI) term is developed for a class of nonlinear Multi Inputs Multi Outputs (MIMO) underactuated systems with unknown parameters and in presence of external disturbances. The main contribution of the proposed method is that underactuated systems can be controlled in their original non square form. The problem of matrix singularity for this class of systems is solved by using the property of the regularized inverse and by introducing a compensator term in the proposed control law. The free parameters of the adaptive fuzzy controller are tuned on-line based on the Lyapunov approach. The overall adaptive fuzzy scheme guarantees the boundedness of all the closed-loop signals as well as the tracking errors. The validity of the proposed approach is shown by computer simulations.
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.
