Fuzzy Incremental Hierarchical Sliding Mode Control for Underactuated Systems

Qian, Dianwei; Yi, Jianqiang; Ma, Yufen

doi:10.1109/aici.2010.180

Cited by 2 publications

(2 citation statements)

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“…For example, chattering phenomenon and mismatched uncertainties is one of its disadvantages. This approach has further research about fuzzy controller designs associated with sliding controller called fuzzy sliding mode controller (FSMC) [28][29][30][31][32][33][34][35]. Controller that is a combination of fuzzy logic control (FLC) and SMC provides a simple method to design the system.…”

Section: Introductionmentioning

confidence: 99%

“…However, in controller [20][21][22][23][24] the parameters of the controller are not calculated to specific limits, in controller [25] the mismatched uncertainties are not handling, in controller [26] the ability to remove chattering signals is not mentioned. Controllers in [28][29][30][31][32][33] can't be applied to SIMO under-actuated systems with n subsystems and have not explicitly demonstrated the ability to remove chattering signals.…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical robust fuzzy sliding mode control for a class of simo under-actuated systems with mismatched uncertainties

Huang

Tran

2019

TELKOMNIKA

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The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, the chattering phenomenon is its main disadvantage. To overcome the above disadvantage, in this paper, a new compound control scheme is proposed for SIMO under-actuated based on HSMC and fuzzy logic control (FLC). By using the HSMC approach, a sliding control law is derived so as to guarantee the stability and robustness under various environments. The FLC as the second controller completely removes the chattering signal caused by the sign function in the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.

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