Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

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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Bibliographic Details
Main Authors:	Faten Baklouti, Sinda Aloui, Abdessattar Chaari
Format:	Article
Language:	English
Published:	Wiley 2016-01-01
Series:	Journal of Control Science and Engineering
Online Access:	http://dx.doi.org/10.1155/2016/9283103
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