Fuzzy approximation-based adaptive sliding-mode control scheme for underactuated systems
作者： Soumia Moussaoui , Abdesselem Boulkroune
DOI: 10.1109/CEIT.2015.7233160
关键词:
摘要: This paper proposes a fuzzy approximation-based adaptive sliding-mode controller for uncertain nonlinear perturbed underactuated systems. The logic system is used approximating the unknown functions. For estimating parameters of systems and some bounds, set adaptation laws are appropriately designed. boundedness all signals closed-loop as well asymptotic convergence underlying tracking errors to origin established based on Lyapunov analysis. effectiveness proposed illustrated throughout simulation results
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