Adaptive Learning and Control Using Sliding Modes
A novel robust tracking control scheme is proposed for a class of nonlinear systems. It is shown that a nonlinear system is first approximated by a fuzzy nominal model by aggregating a set of linearized local subsystems and then a conventional linear feedback controller is designed to stabilise the nominal system. ; In order to obtain good tracking performance for the controlled nonlinear system, a variable structure compensator is introduced to eliminate the effects of the approximation error and uncertainties between the fuzzy nominal model and the nonlinear system. A simulation example using a one-link rigid robotic manipulator is given in support of the proposed control scheme.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 8, number 1 (1998) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Sep 3, 2021
Dec 18, 2020
11
https://www.zbc.uz.zgora.pl/publication/64639
Edition name | Date |
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A robust tracking control scheme for a class of nonlinear systems with fuzzy nominal model | Sep 3, 2021 |
Hammouri, Hassan Bounit, Hamid Logemann, Hartmut - red. Townley, Stuart - red.
Kaczorek, Tadeusz (1932- ) Logemann, Hartmut - red. Townley, Stuart - red.
Tokarzewski, Stanisław Telega, Józef J. Logemann, Hartmut - red. Townley, Stuart - red.
Rutkowska, Danuta Logemann, Hartmut - red. Townley, Stuart - red.
Müller, Peter C. Logemann, Hartmut - red. Townley, Stuart - red.
Avalos, George Lasiecka, Irena Logemann, Hartmut - red. Townley, Stuart - red.
Grabowski, Piotr Logemann, Hartmut - red. Townley, Stuart - red.
Harteneck, Moritz Stewart, Robert W. Logemann, Hartmut - red. Townley, Stuart - red.