Control for a class of uncertain underactuated nonlinear systems

摘要

Underactuated nonlinear systems with second-order nonholonomic constraints have important applications but not easy to stably control. In the paper, a cascade sliding-mode direct adaptive fuzzy control was proposed step by step for this type of uncertain underactuated nonlinear systems by means of the universal approximation of fuzzy logic systems (FLS) based on Lyapunov stable theory. Theoretical analysis and simulations shows that the designed controller can make this type of systems globally asymptotically stable.