教師資料查詢 | 類別: 期刊論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:A hybrid fuzzy sliding-mode control for a class of generalized,under-actuated and uncertain nonlinear dynamic systems
學年99
學期1
出版(發表)日期2011/01/01
作品名稱A hybrid fuzzy sliding-mode control for a class of generalized,under-actuated and uncertain nonlinear dynamic systems
作品名稱(其他語言)
著者黃志良
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數IEEE FUZ2011, pp.1333-1338
摘要Due to the under-actuated feature, the reference signals using the combination of the system outputs, whose number is larger than that of reference signal, are designed so that the number of control inputs and sliding surfaces is the same, and that the uncontrollable mode is indirectly controlled. Under the uncertain environment, the sliding-mode under-actuated control (SMUC) with the satisfaction of suitable condition is designed to asymptotically track the reference signal. Otherwise, a bounded tracking result is obtained for the mild condition. In this situation, an on-line fuzzy modeling for the uncertainty is employed to design a fuzzy model-based sliding-mode under-actuated control (FSMUC) to improve the system performance; e.g., the bounded tracking result of SMUC becomes an asymptotical tracking. The proposed hybrid fuzzy sliding-mode under-actuated control (HFSMUC) combining SMUC and FSMUC with a transition can be applied to a class of generalized, under-actuated and uncertain nonlinear systems, e.g., the trajectory tracking control of a differential mobile robot (DMR). Finally, the simulations of the HFSMUC system are presented to confirm the efficiency and effectiveness of the proposed control.
關鍵字Uncertainty;Nonlinear dynamical systems;System performance;Sliding mode control;Trajectory;Vehicle dynamics
語言英文(美國)
ISSN
期刊性質國外
收錄於
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式,電子版,紙本
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