Publisher DOI: 10.1177/1077546319827393
Title: An adaptive fuzzy sliding mode controller for uncertain underactuated mechanical systems
Authors: Bessa, Wallace Moreira 
Otto, Svenja  
Kreuzer, Edwin 
Seifried, Robert  
Issue Date: 1-May-2019
Source: JVC/Journal of Vibration and Control 9 (25): 1521-1535 (2019-05-01)
Abstract (english): 
Underactuated mechanical systems are frequently encountered in several industrial and real-world applications such as robotic manipulators with elastic components, aerospace vehicles, marine vessels, and overhead container cranes. The design of accurate controllers for this kind of mechanical system can become very challenging, especially if a high level of uncertainty is involved. In this paper, an adaptive fuzzy inference system is combined with a sliding mode controller in order to enhance the control performance of uncertain underactuated mechanical systems. The proposed scheme can deal with a large class of multiple-input–multiple-output underactuated systems subject to parameter uncertainties, unmodeled dynamics, and external disturbances. The convergence properties of the resulting intelligent controller are proved by means of a Lyapunov-like stability analysis. Experimental results obtained with an overhead container crane demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems.
ISSN: 1077-5463
Journal: JVC/Journal of Vibration and Control 
Institute: Mechanik und Meerestechnik M-13 
Document Type: Article
Project: Adaptive Regelung nichtlinearer differentiell-algebraischer Systeme aus der Mehrkörperdynamik 
More Funding information: This work was supported by the Alexander von Humboldt Foundation (Grant Number: 3.2-BRA/1159879 STPCAPES)
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