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Robust adaptive fuzzy sliding-mode control with H tracking performance for a class of nonlinear systems

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3 Author(s)
Chun-Fei Hsu ; Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Tsu-Tian Lee, ; Chih-Min Lin

Since the computed torque or inverse dynamics control techniques are based on a good understanding of the controlled system dynamics and even its environment; the objection for the real-time application is unrealizable for the unknown systems. To tackle this problem, this study developed a robust adaptive fuzzy sliding-mode control system based on the H tracking design technique. The developed control system is comprised of a fuzzy controller and a robust controller. The fuzzy controller is utilized to approximate an ideal controller by the tuning algorithms based on the Lyapunov sense, and the robust controller is designed to achieve H robust tracking performance. To investigate the effectiveness of the developed control system, it is applied to a wing rock motion control system. Simulation results demonstrate that the proposed control system can achieve favorable tracking performances with unknown system dynamics.

Published in:

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on  (Volume:1 )

Date of Conference:

2-4 Sept. 2004