Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones
In this study, with respect to certain second-order robotic systems with dead zones, a fuzzy adaptive variable structure controller (VSC) is implemented. Some suitable adaptive fuzzy systems are used to estimate uncertain functions. Based on Lyapunov stability theorems, parameter adaptive laws are d...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2021/6668405 |
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| _version_ | 1832550830352367616 |
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| author | Songyu Wang Xianmin Hou |
| author_facet | Songyu Wang Xianmin Hou |
| author_sort | Songyu Wang |
| collection | DOAJ |
| description | In this study, with respect to certain second-order robotic systems with dead zones, a fuzzy adaptive variable structure controller (VSC) is implemented. Some suitable adaptive fuzzy systems are used to estimate uncertain functions. Based on Lyapunov stability theorems, parameter adaptive laws are designed, and it is proven that all signals involved will remain bounded and the stability of the controlled system is also guaranteed. Our controller is effective for the system with or without sector nonlinearity. Finally, a simulation example is presented to illustrate the correctness of the theoretical derivation. |
| format | Article |
| id | doaj-art-4fb7bb22e55e47a38873f19cbdf21ba2 |
| institution | Kabale University |
| issn | 2314-4629 2314-4785 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Mathematics |
| spelling | doaj-art-4fb7bb22e55e47a38873f19cbdf21ba22025-02-03T06:05:45ZengWileyJournal of Mathematics2314-46292314-47852021-01-01202110.1155/2021/66684056668405Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead ZonesSongyu Wang0Xianmin Hou1School of Information and Management Sciences, Henan Agricultural University, Zhengzhou 450046, ChinaSchool of Information and Management Sciences, Henan Agricultural University, Zhengzhou 450046, ChinaIn this study, with respect to certain second-order robotic systems with dead zones, a fuzzy adaptive variable structure controller (VSC) is implemented. Some suitable adaptive fuzzy systems are used to estimate uncertain functions. Based on Lyapunov stability theorems, parameter adaptive laws are designed, and it is proven that all signals involved will remain bounded and the stability of the controlled system is also guaranteed. Our controller is effective for the system with or without sector nonlinearity. Finally, a simulation example is presented to illustrate the correctness of the theoretical derivation.http://dx.doi.org/10.1155/2021/6668405 |
| spellingShingle | Songyu Wang Xianmin Hou Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones Journal of Mathematics |
| title | Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones |
| title_full | Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones |
| title_fullStr | Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones |
| title_full_unstemmed | Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones |
| title_short | Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones |
| title_sort | fuzzy adaptive variable structure control of second order robotic manipulators with dead zones |
| url | http://dx.doi.org/10.1155/2021/6668405 |
| work_keys_str_mv | AT songyuwang fuzzyadaptivevariablestructurecontrolofsecondorderroboticmanipulatorswithdeadzones AT xianminhou fuzzyadaptivevariablestructurecontrolofsecondorderroboticmanipulatorswithdeadzones |