Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study
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 differ...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/9283103 |
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| author | Faten Baklouti Sinda Aloui Abdessattar Chaari |
| author_facet | Faten Baklouti Sinda Aloui Abdessattar Chaari |
| author_sort | Faten Baklouti |
| collection | DOAJ |
| description | 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 performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made. |
| format | Article |
| id | doaj-art-08b00ef3601f45299ff169678c65ffe3 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-08b00ef3601f45299ff169678c65ffe32025-02-03T01:25:20ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/92831039283103Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative StudyFaten Baklouti0Sinda Aloui1Abdessattar Chaari2National Engineering School of Sfax, 3038 Sfax, TunisiaNational Engineering School of Sfax, 3038 Sfax, TunisiaNational Engineering School of Sfax, 3038 Sfax, TunisiaThe 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 performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.http://dx.doi.org/10.1155/2016/9283103 |
| spellingShingle | Faten Baklouti Sinda Aloui Abdessattar Chaari Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study Journal of Control Science and Engineering |
| title | Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study |
| title_full | Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study |
| title_fullStr | Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study |
| title_full_unstemmed | Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study |
| title_short | Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study |
| title_sort | adaptive fuzzy sliding mode tracking control of uncertain underactuated nonlinear systems a comparative study |
| url | http://dx.doi.org/10.1155/2016/9283103 |
| work_keys_str_mv | AT fatenbaklouti adaptivefuzzyslidingmodetrackingcontrolofuncertainunderactuatednonlinearsystemsacomparativestudy AT sindaaloui adaptivefuzzyslidingmodetrackingcontrolofuncertainunderactuatednonlinearsystemsacomparativestudy AT abdessattarchaari adaptivefuzzyslidingmodetrackingcontrolofuncertainunderactuatednonlinearsystemsacomparativestudy |