欠驱动机械系统的模糊快速终端SMC

2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS) Pub Date : 2023-03-06 DOI:10.1109/ICAECCS56710.2023.10104963

A. Bendenidina, Kamel GUESMI, A. Rebai

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引用次数: 0

摘要

本文研究欠驱动机械系统的非线性控制问题。首先，针对不确定扰动系统，合成了快速终端滑模控制器。为了提高控制精度和收敛性，设计了模糊调谐器。基于李亚普诺夫方法对该方法的稳定性进行了验证。最后给出了仿真结果，验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Fuzzy Fast Terminal SMC for Underactuated Mechanical Systems

This paper treats the nonlinear control of under actuated mechanical systems. At first, the fast terminal sliding mode controller is synthesized in the case of an uncertain and disturbed system. Then, a fuzzy tuner is developed to increase the control accuracy and enhance the convergence. The stability of the proposed approach is carried out based on Lyapunov method. Simulation results are given, in the end, to validate the proposed approach.

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来源期刊

2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)

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