Creator:
Mei, Fei ; Zhihong, Man ; Yu, Xinghuo ; Nguyen, Thong
Contributor:
Title:
A robust tracking control scheme for a class of nonlinear systems with fuzzy nominal model
Subtitle:
Adaptive Learning and Control Using Sliding Modes
Group publication title:
Subject and Keywords:
sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka
Abstract:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Date:
Resource Type:
Pages:
Source:
AMCS, volume 8, number 1 (1998) ; click here to follow the link