Abstract
An adaptive sliding mode fuzzy control approach is proposed for a class of underactuated mechanical systems that have one control input and two generalized position variables. The approach combines SMC’s robustness and FLC’s independence of system model. According to the influences on system dynamic performance, both the slope of sliding mode surface and the coordination between the two subsystems are automatically tuned by real time fuzzy inference respectively. A prototype overhead crane is built, the system stability is analyzed and the effectiveness of the proposed control algorithm is demonstrated by experiment results.
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Guo, W., Liu, D. (2007). Adaptive Sliding Mode Fuzzy Control for a Class of Underactuated Mechanical Systems. In: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues. ICIC 2007. Lecture Notes in Computer Science, vol 4681. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74171-8_34
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DOI: https://doi.org/10.1007/978-3-540-74171-8_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74170-1
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