Abstract:Motivated by the dynamic characteristics of underactuated mechanical systems with 2 degrees of freedom, a decoupling adaptive fuzzy sliding mode decoupling controller (DAFSMDC) is presented in this paper. By exploiting the universal approximation property of fuzzy logic systems and the sliding mode control method, this paper proposes a new decoupling strategy of the system into 2 second-order subsystems and introduces an adaptive control algorithm that guarantees the convergence of both subsystems. Since fuzzy systems are used to approximate an unknown ideal controller, the adjustable parameters of the used fuzzy systems are updated using a gradient descent algorithm that is designed to minimize the error between the unknown ideal controller and the fuzzy controller. Based on Lyapunov stability theory, proofs and conditions are then given to ensure the stability of the closed-loop system. Two examples are provided to illustrate the effectiveness and potential of the DAFSMDC technique for the stabilization of underactuated mechanical systems.
The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their control algorithms. To this date, various linear and nonlinear control techniques using classical and intelligent methods have been published in literature. In this work, an adaptive controller using sliding mode control (SMC) and wavelets network (WN) is proposed for a class of second-order UMS with two degrees of freedom (DOF).This adaptive control strategy takes advantage of both sliding mode control and wavelet properties. In the main result, we consider the case of un-modeled dynamics of the above-mentioned UMS, and we introduce a wavelets network to design an adaptive controller based on the SMC. The update algorithms are directly extracted by using the gradient descent method and conditions are then settled to achieve the required convergence performance.The efficacy of the proposed adaptive approach is demonstrated through an application to the pendubot.
In this paper, we propose an analytical drain-current model for long-channel junctionless (JL) cylindrical surrounding-gate MOSFET (SRG MOSFET). It is based on surface-potential solutions obtained from Poisson’s equation using some approximations and separate conditions. Furthermore, analytical compact expressions of the drain-current have been derived for deep depletion, partial depletion, and accumulation mode. The confrontation of the model with TCAD simulation results, performed with Silvaco Software, proves the validity and the accuracy of the developed model
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