期刊論文
| 學年 | 89 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2001-03-01 |
| 作品名稱 | A stable adaptive fuzzy sliding-mode control for nonlinear systems with application to four-bar-linkage 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 Trans. Fuzzy Syst. 9(2), pp. 238-252 |
| 摘要 | In this paper, a stable adaptive fuzzy sliding-mode control for affine highly nonlinear systems is developed. First, the external part of a transformed system via a feedback linearizing control evolves a linear dynamic system with uncertainties. A reference model with the desired amplitude and phase properties is given to obtain an error model. Since the uncertainties are assumed to be large, a fuzzy model is employed to model these uncertainties. A learning law with e-modification for the weight of a fuzzy model is considered to ensure the boundedness of learning weight without the requirement of persistent excitation condition. Then, an equivalent control using the known part of system dynamics and the learning fuzzy model is designed to achieve the desired control behavior. Furthermore, the uncertainties caused by the approximation of fuzzy model and the error of learning weight are tackled by a switching control. Finally, the stability of the overall system is verified by the Lyapunov theory. Simulations and experiments of the velocity control of a four-bar-linkage system are presented to verify the usefulness of the proposed control. |
| 關鍵字 | |
| 語言 | en |
| ISSN | |
| 期刊性質 | 國外 |
| 收錄於 | |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 否 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60777 ) |