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) ; kliknij tutaj, żeby przejść
Biblioteka Uniwersytetu Zielonogórskiego
2021-09-03
2020-12-18
63
https://zbc.uz.zgora.pl/repozytorium/publication/64639
Nazwa wydania | Data |
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A robust tracking control scheme for a class of nonlinear systems with fuzzy nominal model | 2021-09-03 |
Korbicz, Józef - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Beliczyński, Bartłomiej - red.