Sliding Mode Supervised Fuzzy Control for a Class of Underactuated Nonlinear Systems

摘要

For a class of uncertain underactuated nonlinear systems, a sliding mode supervised fuzzy control scheme is proposed. The approach integrates the advantages of the sliding mode control and the T-S fuzzy control so that it can effectively avoid the instability arisen from the linearized design in the T-S fuzzy control while improving the system control performance. The overhead crane transport system is used in the simulations and the results show the effectiveness of proposed approach.