- Title
- An efficient approach for SIMO systems using adaptive fuzzy hierarchical sliding mode control
- Creator
- Van Nguyen, Thien; Le, Hai; Tran, Hoang; Nguyen, Duc; Nguyen, Minh; Nguyen, Linh
- Date
- 2021
- Type
- Text; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/177921
- Identifier
- vital:15363
- Identifier
-
https://doi.org/10.1109/ICARSC52212.2021.9429793
- Identifier
- ISBN:9781665431989 (ISBN)
- Abstract
- The paper addresses the problem of efficiently controlling a class of single input multiple output (SIMO) under-Actuated robotic systems such as a two dimensional inverted pendulum cart or a two dimensional overhead crane. It is first proposed to employ the hierarchical sliding mode control approach to design a control law, which guarantees stability and anti-swing of the vehicle when it is driven on a predefined trajectory. More importantly, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by the proposed fuzzy logic mechanism, which results in the efficient operation of the SIMO under-Actuated system in real time. The proposed algorithm was then implemented in the synthetic environment, where the obtained results demonstrate its effectiveness. © 2021 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Relation
- 2021 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021 p. 85-90
- Rights
- All metadata describing materials held in, or linked to, the repository is freely available under a CC0 licence
- Rights
- Copyright © 2021 IEEE
- Subject
- Adaptive control; Fuzzy logic; Lyapunov theory; Sliding mode control; Under-Actuated systems
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