Direct adaptive fuzzy sliding mode decoupling control for a class of underactuated mechanical systems

摘要: Motivated by the dynamic characteristics of underactuated mechanical systems with 2 degrees freedom, a decoupling adaptive fuzzy sliding mode controller (DAFSMDC) is presented in this paper. By exploiting universal approximation property logic and control method, paper proposes new strategy system into second-order subsystems introduces an algorithm that guarantees convergence both subsystems. Since are used to approximate unknown ideal controller, adjustable parameters updated using gradient descent designed minimize error between controller. Based on Lyapunov stability theory, proofs conditions then given ensure closed-loop system. Two examples provided illustrate effectiveness potential DAFSMDC technique for stabilization systems.