Adaptive sliding mode fuzzy control for a class of underactuated mechanical systems

被引：0
|
作者：
Guo, Weiping [1 ]
Liu, Diantong [1 ]
机构：
[1] Yantai Univ, Inst Comp Sci & Technol, Shandong Province 264005, Peoples R China
来源：
ADVANCED INTELLIGENT COMPUTING THEORIES AND APPLICATIONS: WITH ASPECTS OF THEORETICAL AND METHODOLOGICAL ISSUES | 2007年 / 4681卷
关键词：
sliding mode fuzzy control; underactuated mechanical systems; adaptive control; overhead crane;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：345 / +
页数：2
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