NDLI: Adaptive Fuzzy Hierarchical Sliding-Mode Control for the Trajectory Tracking of Uncertain Underactuated Nonlinear Dynamic Systems

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Chiang-Cheng Chiang Yao-Wei Yeh
Copyright Year	1993
Abstract	The trajectory tracking of uncertain underactuated nonlinear dynamic systems is tackled by an adaptive fuzzy hierarchical sliding-mode control (AFHSMC). First, one of the subsystems is assigned as the first layer sliding surface. Next, a second layer sliding surface from the first layer sliding surface and the sliding surface of another subsystem is constructed. In this paper, the nth layer is supposed to be the top layer (or hierarchical layer) for including the sliding surfaces of all subsystems. Because two nonlinear system functions and the time-varying external disturbance of each subsystem are supposed to be unknown, different online fuzzy models are employed to approximate these nonlinear system functions and the upper bounded functions of external disturbances. Moreover, the upper bound of uncertainties caused by these fuzzy modeling errors is estimated online. Based on these learning fuzzy models and the estimated upper bound of these modeling errors, an AFHSMC is developed. The stability analysis and tracking performance of the closed-loop system are verified by Lyapunov stability theory. Finally, two simulation examples including different amplitudes of external disturbance and comparison with hierarchical sliding-mode control confirm the effectiveness and robustness of the proposed control.
Sponsorship	IEEE Computational Intelligence Society
Starting Page	286
Ending Page	299
Page Count	14
File Size	971435
File Format	PDF
ISSN	10636706
Volume Number	22
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear dynamical systems Sliding mode control Uncertainty Stability analysis Frequency modulation Upper bound underactuated system Fuzzy systems hierarchical sliding-mode control (HSMC) learning law with projection Lyapunov stability
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Control and Systems Engineering Computational Theory and Mathematics

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